[Lang] auto_diff host-walk reductions: dramatically faster front-end compile time on adstack-enabled reverse-mode kernels by duburcqa · Pull Request #587 · Genesis-Embodied-AI/quadrants

duburcqa · 2026-04-28T11:36:17Z

Reverse-mode AD on adstack-heavy kernels spends a non-trivial fraction of cold-compile wall-clock inside Quadrants-IR transforms in `auto_diff.cpp` - not in LLVM or in ptxas. Profiles show `BasicStmtVisitor::visit` (`Stmt::has_operand`, `Stmt::replace_operand_with`, `StatementUsageReplace::visit`) accumulating tens of seconds on large unrolled bodies, plus `ScalarEvolution::canReuseInstruction` paying for SCEV recurrences that the AD pipeline introduces unnecessarily. This PR addresses four issues in `auto_diff.cpp` that compound on Ant-shaped reverse-mode kernels.

TL;DR

Demand-driven `PromoteSSA2LocalVar`: only promotes SSA defs whose values are read by a downstream consumer's adjoint formula (non-linear unary / binary / ternary op operand, GlobalPtr / ExternalPtr index, IfStmt cond, RangeForStmt bound). The pre-existing pass promoted every SSA def in the IB, including ones whose values the reverse pass never reads, leaving dead alloca + load + store triples that downstream passes had to walk over.
`AdStackAllocaJudger` no longer flags plain load+store cycles: the consumer-only check on the precise visitors (non-linear op operand, GlobalPtr / ExternalPtr index, IfStmt / RangeForStmt bound) is sufficient. A loop-carried accumulator like `acc = acc + sin(x[i])` has a load+store cycle but only feeds linear add operations whose adjoint formulas (`d/dop = 1`) never read the accumulator's per-iteration value, so adstack promotion would emit one push + one pop per iteration with no reverse-pass consumer. Restricting `is_stack_needed_` to consumer-shape visitors leaves accumulator-style allocas as plain `AllocaStmt`s while keeping every adstack promotion the reverse pass actually needs.
New `CoalesceAdStackLoads` pass: walks each block, caches the most recent `AdStackLoadTopStmt` / `AdStackLoadTopAdjStmt` per stack, replaces same-stack reads with the cached SSA value, invalidates on Push / Pop / AccAdjoint, conservatively flushes both caches on entry to nested control flow. After `MakeAdjoint` runs the reverse pass emits one `AdStackLoadTopStmt` per use of an outer-loop value in its adjoint formula - dozens of independent loads of the same top slot in one straight-line block on unrolled bodies. The pass folds them into one SSA value, slimming the IR before downstream passes.
`PromoteSSA2LocalVar` uses `ImmediateIRModifier`: the per-replacement `irpass::replace_all_usages_with` call walks the entire IR tree per def, so K promoted defs cost O(K*N). `ImmediateIRModifier` builds a usage map once at construction (one O(N) walk) and then performs each replacement in amortized O(1) by rewriting consumer-operand pointers. Wired only into `PromoteSSA2LocalVar` because its K (thousands of promoted defs on Ant-shaped unrolled bodies) amortizes the modifier construction; `CoalesceAdStackLoads`'s K is too small to pay back the construction cost so it stays on block-scoped `replace_all_usages_with`.

Why

This PR sits underneath #584 (the SSA-promote-adstack-count + single-slot specialization PR). With #584's IR-trimming codegen on top, host-walk reductions yield diminished returns - measured on a representative reverse-mode AD cold compile, this PR saves roughly 10-12 seconds wall-clock when stacked on #584:

Metric	Without this PR	With this PR	Delta
`BasicStmtVisitor::visit` total	36.49s	33.67s	-2.82s
`Stmt::replace_operand_with` self	3.98s	2.63s	-1.35s
`StatementUsageReplace::visit` total	5.43s	4.07s	-1.36s
`ScalarEvolution::canReuseInstruction` total	53.77s	47.45s	-6.32s
`Instruction::mayThrow` total	3.41s	3.06s	-0.35s
`Instruction::willReturn` total	2.97s	2.66s	-0.31s

The biggest line is `canReuseInstruction` (-6.3s): demand-driven `PromoteSSA2LocalVar` produces smaller post-AD IR, so the count alloca's mem2reg-promoted recurrence has fewer copies for SCEV to chew on. The next two lines (`replace_operand_with` and `StatementUsageReplace`) are the direct `ImmediateIRModifier` saving.

Without #584 in front (i.e. against `main` directly), the same set of changes saves roughly twice as much (`BasicStmtVisitor::visit` 37s -> 29s on the same kernel) because the input IR is bigger. The two PRs stack sub-linearly: each is a smaller absolute win when applied on top of the other, but both stay individually positive.

Surface API

No public API change. `qd.init` and `CompileConfig` knobs are untouched. The Python frontend, AD-stack sizing pipeline, and SizeExpr machinery are all unaffected. The only internal change is to `quadrants/transforms/auto_diff.cpp`.

Mechanism

Demand-driven `PromoteSSA2LocalVar`

Adds a pre-scan `compute_required_defs(Block*, std::unordered_set<Stmt*>&)` that walks the IB and identifies every SSA def whose value is consumed by a reverse-relevant consumer:

non-linear unary op operand (`NonLinearOps::unary_collections`)
non-linear binary / ternary op operand
GlobalPtrStmt / ExternalPtrStmt index
IfStmt cond
RangeForStmt begin / end / step

The visitor's `visit(Stmt*)` skips promotion when `stmt` is not in `required_defs_`. `AllocaStmt`s are still hoisted unconditionally (they need to live in the entry block regardless of whether they are read in the reverse pass).

`AdStackAllocaJudger::visit(LocalStoreStmt)` change

Previously: any `LocalStoreStmt` to the alloca's backup flagged `is_stack_needed_ = true`. New: the visit method only updates `load_only_` (used to short-circuit the `run()` path on load-only allocas). The decision of whether the alloca needs adstack promotion is made entirely by the precise visitors above.

`CoalesceAdStackLoads`

New pass at the end of `auto_diff.cpp`. Per-block walk:

```cpp
unordered_map<Stmt*, Stmt*> primal_cache;
unordered_map<Stmt*, Stmt*> adjoint_cache;
for (Stmt s : block->statements) {
if (s is AdStackLoadTopStmt && !s.return_ptr) {
if (primal_cache.has(s.stack)) replace_all_usages(s, primal_cache[s.stack]); erase(s);
else primal_cache[s.stack] = s;
} else if (s is AdStackLoadTopAdjStmt) { / same with adjoint_cache */ }
else if (s is AdStackPushStmt) { primal_cache.erase(s.stack); adjoint_cache.erase(s.stack); }
else if (s is AdStackPopStmt) { primal_cache.erase(s.stack); adjoint_cache.erase(s.stack); }
else if (s is AdStackAccAdjointStmt) { adjoint_cache.erase(s.stack); } // primal stays valid
else if (s is IfStmt | RangeForStmt | StructForStmt | WhileStmt) { primal_cache.clear(); adjoint_cache.clear(); recurse; }
}
```

Run via `CoalesceAdStackLoads::run(ib)` after `BackupSSA::run(ib)` in `auto_diff()`.

`ImmediateIRModifier` swap

`PromoteSSA2LocalVar` now constructs an `ImmediateIRModifier` once at `run()` entry over the IB, then per-replacement calls `immediate_modifier_->replace_usages_with(stmt, alloc_ptr)` and `immediate_modifier_->replace_usages_with(stmt, load)` instead of two `irpass::replace_all_usages_with(...)` calls per def.

Per-backend matrix

Backend	Behaviour change
All backends	smaller post-AD IR, fewer adstack promotions on accumulator-style allocas, coalesced redundant LoadTop reads, faster front-end compile

Tests

The existing AD test suite already exercises every code path this PR touches: `tests/python/test_adstack.py`, `test_ad_basics.py`, `test_ad_for.py`, `test_ad_if.py`, `test_ad_atomic.py`, `test_ad_offload.py`, `test_ad_demote_dense.py`, `test_ad_grad_check.py`, `test_ad_dynamic_index.py` - 1035 tests pass on the LLVM CPU backend, covering the full reverse-mode AD surface including unary loop-carried unrolled bodies, nested control-flow inside reverse pass, atomic adjoint accumulation, dynamic indexing, gradient checks against PyTorch autograd, and offload boundary handling.

The kernel-shape coverage tests for these features (accumulator-mixed, repeated LoadTop, multi-stack unrolled pushes) are already added to `test_adstack.py` in #584; no test changes are needed in this PR to exercise the new pass behaviour beyond what #584 already provides.

Side-effect audit

Demand-driven `PromoteSSA2LocalVar`: the consumer-shape visitor list (non-linear unary / binary / ternary op operand, GlobalPtr / ExternalPtr index, IfStmt cond, RangeForStmt bound) must stay in sync with the cases the reverse pass actually reads back. Adding a new non-linear op kind to `NonLinearOps` requires updating `compute_required_defs`'s recognizer as well, otherwise the reverse pass reads stale data.
`AdStackAllocaJudger` relax: the precise visitors are the source of truth for whether an alloca needs an adstack. Adding a new consumer kind that the reverse formula reads requires a new visitor method on `AdStackAllocaJudger`.
`CoalesceAdStackLoads` cache invalidation: the pass conservatively flushes both caches on entry to any nested IfStmt / RangeForStmt / StructForStmt / WhileStmt so a Push or Pop hidden inside that nested block does not leak a stale cache entry into the surrounding block. This is a coarse invalidation but it is sound; a finer-grained version that walks the nested block first to learn which stacks are mutated could fold more loads but is unnecessary for the current measurable win.
`ImmediateIRModifier` consistency: only `PromoteSSA2LocalVar` is converted because its K is large enough to amortize the modifier construction. `CoalesceAdStackLoads` and `BackupSSA` use block-scoped `irpass::replace_all_usages_with` because their K is much smaller. Earlier integration A/B confirmed that converting `CoalesceAdStackLoads` regressed `BasicStmtVisitor::visit` (29.33s -> 39.82s), so the modifier is wired only where the K math justifies it.
The `MakeAdjoint` rule that snap-stack-records bare `AdStackLoadTopStmt` conds when the if-body pushes to the same stack (`auto_diff.cpp` line ~1708) is unchanged; this PR does not touch the `IfStmt` cond-snapshot path.

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duburcqa · 2026-04-28T11:47:51Z

@claude review

duburcqa · 2026-04-28T12:56:40Z

@claude review

hughperkins · 2026-04-28T13:05:44Z

can you post please:

Genesis unit test results (at least for field)
Genesis benchmarks results (at least for field)

duburcqa · 2026-04-28T14:18:25Z

GS_ENABLE_NDARRAY=1 QD_OFFLINE_CACHE=0 pytest -v -ra --backend gpu --dev --forked ./tests

[Quadrants] version 0.0.0, llvm 22.1.0, commit bc78fa52, linux, python 3.10.19
============================================================================================================================= test session starts ==============================================================================================================================
platform linux -- Python 3.10.19, pytest-9.0.2, pluggy-1.6.0 -- /mnt/home/duburcqa/.venv/bin/python3
cachedir: .pytest_cache
Test order randomisation NOT enabled. Enable with --random-order or --random-order-bucket=<bucket_type>
rootdir: /mnt/home/duburcqa/workspace/src/genesis
configfile: pyproject.toml
plugins: anyio-4.12.1, dash-4.0.0, forked-1.6.0, print-1.2.2, random-order-1.2.0, repeat-0.9.4, rerunfailures-16.1, timeout-2.4.0, xdist-3.8.0, quadrants-0.7.3.dev8+ge3e828121, syrupy-5.1.0
timeout: 1000.0s
timeout method: signal
timeout func_only: False
64 workers [652 items]
scheduling tests via WorkStealingScheduling

tests/test_ipc.py::test_single_joint[prismatic-two_way_soft_constraint-True-0]
tests/test_ipc.py::test_single_joint[revolute-external_articulation-True-0]
tests/test_ipc.py::test_single_joint[revolute-two_way_soft_constraint-True-2]
tests/test_ipc.py::test_single_joint[revolute-two_way_soft_constraint-False-0]
tests/test_quadrants.py::test_static[False-1-False-False-cpu-None]
tests/test_quadrants.py::test_static[False-1-False-True-gpu-None]
tests/test_quadrants.py::test_static[False-1-True-True-cpu-None]
tests/test_quadrants.py::test_static[False-1-True-True-gpu-None]
tests/test_ipc.py::test_single_joint[prismatic-two_way_soft_constraint-False-2]
tests/test_ipc.py::test_single_joint[revolute-two_way_soft_constraint-False-2]
tests/test_ipc.py::test_single_joint[prismatic-external_articulation-True-0]
tests/test_ipc.py::test_single_joint[prismatic-two_way_soft_constraint-False-0]
tests/test_ipc.py::test_single_joint[prismatic-external_articulation-True-2]
tests/test_ipc.py::test_cloth_corner_drag[0]
tests/test_ipc.py::test_single_joint[revolute-two_way_soft_constraint-True-0]
tests/test_quadrants.py::test_static[False-1-False-False-gpu-None]
tests/test_quadrants.py::test_num_envs[False-False-gpu-None]
tests/test_quadrants.py::test_static[True-4-True-False-cpu-None]
tests/test_quadrants.py::test_num_envs[False-True-gpu-None]
tests/test_quadrants.py::test_num_envs[False-False-cpu-None]
tests/test_quadrants.py::test_num_envs[True-False-gpu-None]
tests/test_quadrants.py::test_num_envs[True-False-cpu-None]
tests/test_render.py::test_sensors_draw_debug[RASTERIZER-0]
tests/test_quadrants.py::test_num_envs[False-True-cpu-None]
tests/test_quadrants.py::test_static[True-4-False-True-gpu-None]
tests/test_quadrants.py::test_static[True-4-False-False-cpu-None]
tests/test_rigid_physics.py::test_path_planning_avoidance[cpu-0]
tests/test_quadrants.py::test_static[True-4-False-True-cpu-None]
tests/test_quadrants.py::test_static[True-4-True-False-gpu-None]
tests/test_quadrants.py::test_static[False-1-False-True-cpu-None]
tests/test_ipc.py::test_cloth_corner_drag[2]
tests/test_ipc.py::test_single_joint[revolute-external_articulation-True-2]
tests/test_quadrants.py::test_static[False-1-True-False-cpu-None]
tests/test_quadrants.py::test_static[True-4-False-False-gpu-None]
tests/test_ipc.py::test_single_joint[prismatic-two_way_soft_constraint-True-2]
tests/test_quadrants.py::test_static[True-4-True-True-cpu-None]
tests/test_quadrants.py::test_static[True-4-True-True-gpu-None]
tests/test_rigid_physics.py::test_many_boxes_dynamics[cpu-False-True-False]
tests/test_rigid_physics.py::test_stickman[gpu-True-Euler-Newton-xml/humanoid.xml]
tests/test_quadrants.py::test_num_envs[True-True-cpu-None]
tests/test_quadrants.py::test_num_envs[True-True-gpu-None]
tests/test_quadrants.py::test_ndarray_no_compile[cpu-[(1, 0), (2, 1), (2, 2), (3, 3)]-None]
tests/test_quadrants.py::test_ndarray_no_compile[gpu-[(1, 0), (2, 1)]-None]
tests/test_rigid_physics.py::test_many_boxes_dynamics[cpu-False-False-False]
tests/test_deformable_physics.py::test_deformable_parallel[gpu]
tests/test_integration.py::test_pick_and_place[gpu-0]
tests/test_integration.py::test_pick_and_place[cpu-2]
tests/test_rigid_physics.py::test_many_boxes_dynamics[cpu-True-False-False]
tests/test_rigid_physics.py::test_stickman[cpu-True-Euler-Newton-xml/humanoid.xml]
tests/test_render.py::test_sensors_draw_debug[RASTERIZER-2]
tests/test_quadrants.py::test_static[False-1-True-False-gpu-None]
tests/test_rigid_physics.py::test_path_planning_avoidance[cpu-2]
tests/test_hybrid.py::test_mesh_mpm_build
tests/test_grad.py::test_differentiable_rigid[gpu]
tests/test_integration.py::test_pick_and_place[gpu-1]
tests/test_grad.py::test_differentiable_rigid[cpu]
tests/test_integration.py::test_pick_and_place[cpu-1]
tests/test_rigid_physics.py::test_many_boxes_dynamics[cpu-False-False-True]
tests/test_render.py::test_batch_deformable_render[RASTERIZER]
tests/test_integration.py::test_pick_and_place[gpu-2]
tests/test_integration.py::test_pick_and_place[cpu-0]
tests/test_quadrants.py::test_ndarray_no_compile[gpu-[(3, 3), (4, 4)]-None]
tests/test_integration.py::test_franka_panda_grasp_fem_entity[64-sphere]
tests/test_integration.py::test_franka_panda_grasp_fem_entity[64-box]
[gw49] [  0%] SKIPPED tests/test_integration.py::test_franka_panda_grasp_fem_entity[64-sphere]
tests/test_rigid_physics.py::test_scene_saver_franka[gpu]
[gw55] [  0%] SKIPPED tests/test_integration.py::test_franka_panda_grasp_fem_entity[64-box]
tests/test_rigid_physics.py::test_scene_saver_franka[cpu]
[gw10] [  0%] PASSED tests/test_ipc.py::test_single_joint[prismatic-external_articulation-True-0]
tests/test_rigid_physics.py::test_noslip_iterations[cpu-True-0.5-1.0]
[gw5] [  0%] PASSED tests/test_ipc.py::test_single_joint[revolute-external_articulation-True-2]
tests/test_rigid_physics.py::test_noslip_iterations[cpu-False-0.5-0.04]
[gw4] [  0%] PASSED tests/test_ipc.py::test_single_joint[revolute-external_articulation-True-0]
tests/test_rigid_physics.py::test_data_accessor[3-False-cpu]
[gw11] [  0%] PASSED tests/test_ipc.py::test_single_joint[prismatic-external_articulation-True-2]
tests/test_rigid_physics.py::test_noslip_iterations[cpu-True-2.0-0.04]
[gw37] [  1%] PASSED tests/test_quadrants.py::test_num_envs[True-True-cpu-None]
tests/test_bvh.py::test_expand_bits
[gw37] [  1%] PASSED tests/test_bvh.py::test_expand_bits
tests/test_ipc.py::test_objects_colliding[0]
[gw47] [  1%] PASSED tests/test_rigid_physics.py::test_stickman[cpu-True-Euler-Newton-xml/humanoid.xml]
tests/test_deformable_physics.py::test_muscle[genesis.engine.materials.FEM.muscle.Muscle-2]
[gw21] [  1%] PASSED tests/test_quadrants.py::test_static[False-1-True-True-cpu-None]
tests/test_rigid_physics.py::test_noslip_iterations[gpu-True-2.0-1.0]
[gw8] [  1%] PASSED tests/test_ipc.py::test_single_joint[prismatic-two_way_soft_constraint-False-0]
tests/test_rigid_physics.py::test_noslip_iterations[cpu-False-2.0-1.0]
[gw3] [  1%] PASSED tests/test_ipc.py::test_single_joint[revolute-two_way_soft_constraint-False-2]
tests/test_rigid_physics.py::test_data_accessor[0-False-gpu]
[gw0] [  1%] PASSED tests/test_ipc.py::test_single_joint[revolute-two_way_soft_constraint-True-0]
tests/test_rigid_physics.py::test_cholesky_tiling[gpu-32]
[gw7] [  2%] PASSED tests/test_ipc.py::test_single_joint[prismatic-two_way_soft_constraint-True-2]
tests/test_rigid_physics.py::test_noslip_iterations[cpu-False-2.0-0.04]
[gw2] [  2%] PASSED tests/test_ipc.py::test_single_joint[revolute-two_way_soft_constraint-False-0]
tests/test_rigid_physics.py::test_data_accessor[0-False-cpu]
[gw1] [  2%] PASSED tests/test_ipc.py::test_single_joint[revolute-two_way_soft_constraint-True-2]
tests/test_rigid_physics.py::test_cholesky_tiling[gpu-64]
[gw9] [  2%] PASSED tests/test_ipc.py::test_single_joint[prismatic-two_way_soft_constraint-False-2]
tests/test_rigid_physics.py::test_noslip_iterations[cpu-True-0.5-0.04]
[gw6] [  2%] PASSED tests/test_ipc.py::test_single_joint[prismatic-two_way_soft_constraint-True-0]
tests/test_rigid_physics.py::test_noslip_iterations[cpu-False-0.5-1.0]
[gw25] [  2%] PASSED tests/test_quadrants.py::test_static[True-4-True-True-cpu-None]
tests/test_rigid_physics.py::test_batched_info[True-True-True]
[gw28] [  3%] PASSED tests/test_quadrants.py::test_static[True-4-True-True-gpu-None]
tests/test_rigid_physics.py::test_heterogeneous_simulation
[gw23] [  3%] PASSED tests/test_quadrants.py::test_static[False-1-True-True-gpu-None]
tests/test_rigid_physics.py::test_batched_info[False-False-False]
[gw39] [  3%] PASSED tests/test_quadrants.py::test_num_envs[True-True-gpu-None]
tests/test_bvh.py::test_build_tree[cpu-500-10]
[gw32] [  3%] PASSED tests/test_quadrants.py::test_num_envs[True-False-cpu-None]
tests/test_bvh.py::test_morton_code[500-10]
[gw30] [  3%] PASSED tests/test_quadrants.py::test_static[True-4-True-False-cpu-None]
tests/test_rigid_physics.py::test_batched_info[True-False-True]
[gw24] [  3%] PASSED tests/test_quadrants.py::test_static[True-4-False-True-cpu-None]
tests/test_rigid_physics.py::test_batched_info[False-True-True]
[gw17] [  3%] PASSED tests/test_quadrants.py::test_static[False-1-False-True-cpu-None]
tests/test_rigid_physics.py::test_noslip_iterations[gpu-False-2.0-1.0]
[gw39] [  4%] PASSED tests/test_bvh.py::test_build_tree[cpu-500-10]
tests/test_ipc.py::test_objects_colliding[2]
[gw32] [  4%] PASSED tests/test_bvh.py::test_morton_code[500-10]
tests/test_ipc.py::test_objects_freefall[0]
[gw34] [  4%] PASSED tests/test_quadrants.py::test_num_envs[True-False-gpu-None]
tests/test_bvh.py::test_morton_code[5-1]
[gw16] [  4%] PASSED tests/test_quadrants.py::test_static[False-1-False-True-gpu-None]
tests/test_rigid_physics.py::test_noslip_iterations[gpu-True-0.5-0.04]
[gw55] [  4%] PASSED tests/test_rigid_physics.py::test_scene_saver_franka[cpu]
tests/test_grad.py::test_differentiable_push[gpu]
[gw26] [  4%] PASSED tests/test_quadrants.py::test_static[True-4-False-True-gpu-None]
tests/test_rigid_physics.py::test_batched_info[True-False-False]
[gw19] [  5%] PASSED tests/test_quadrants.py::test_static[False-1-True-False-gpu-None]
tests/test_rigid_physics.py::test_noslip_iterations[gpu-True-2.0-0.04]
[gw34] [  5%] PASSED tests/test_bvh.py::test_morton_code[5-1]
tests/test_ipc.py::test_objects_freefall[2]
[gw22] [  5%] PASSED tests/test_quadrants.py::test_static[True-4-False-False-cpu-None]
tests/test_rigid_physics.py::test_batched_info[False-False-True]
[gw18] [  5%] PASSED tests/test_quadrants.py::test_static[False-1-True-False-cpu-None]
tests/test_rigid_physics.py::test_noslip_iterations[gpu-True-0.5-1.0]
[gw14] [  5%] PASSED tests/test_quadrants.py::test_static[False-1-False-False-cpu-None]
tests/test_rigid_physics.py::test_noslip_iterations[gpu-False-0.5-1.0]
[gw15] [  5%] PASSED tests/test_quadrants.py::test_static[False-1-False-False-gpu-None]
tests/test_rigid_physics.py::test_noslip_iterations[gpu-False-2.0-0.04]
[gw27] [  5%] PASSED tests/test_quadrants.py::test_static[True-4-True-False-gpu-None]
tests/test_rigid_physics.py::test_batched_info[True-True-False]
[gw63] [  6%] PASSED tests/test_integration.py::test_pick_and_place[cpu-0]
tests/test_rigid_physics.py::test_convexify[cpu-False-(90, 0, 90)]
[gw56] [  6%] PASSED tests/test_rigid_physics.py::test_path_planning_avoidance[cpu-2]
tests/test_fem.py::test_interior_tetrahedralized_vertex
[gw59] [  6%] PASSED tests/test_integration.py::test_pick_and_place[cpu-1]
tests/test_rigid_physics.py::test_convexify[cpu-False-(74, 15, 90)]
[gw41] [  6%] PASSED tests/test_render.py::test_batch_deformable_render[RASTERIZER]
tests/test_bvh.py::test_query[gpu-500-10]
[gw20] [  6%] PASSED tests/test_quadrants.py::test_static[True-4-False-False-gpu-None]
tests/test_rigid_physics.py::test_batched_info[False-True-False]
[gw48] [  6%] PASSED tests/test_integration.py::test_pick_and_place[cpu-2]
tests/test_rigid_physics.py::test_convexify[gpu-True-(90, 0, 90)]
[gw62] [  7%] PASSED tests/test_rigid_physics.py::test_path_planning_avoidance[cpu-0]
tests/test_deformable_physics.py::test_sf_solver
[gw51] [  7%] PASSED tests/test_rigid_physics.py::test_many_boxes_dynamics[cpu-True-False-False]
tests/test_bvh.py::test_query[gpu-5-1]
[gw46] [  7%] PASSED tests/test_rigid_physics.py::test_many_boxes_dynamics[cpu-False-False-False]
tests/test_deformable_physics.py::test_muscle[genesis.engine.materials.MPM.muscle.Muscle-0]
[gw44] [  7%] PASSED tests/test_rigid_physics.py::test_many_boxes_dynamics[cpu-False-True-False]
tests/test_deformable_physics.py::test_muscle[genesis.engine.materials.FEM.muscle.Muscle-0]
[gw41] [  7%] PASSED tests/test_bvh.py::test_query[gpu-500-10]
tests/test_ipc.py::test_collision_delegation_ipc_vs_rigid[ipc_only-False]
[gw45] [  7%] PASSED tests/test_rigid_physics.py::test_many_boxes_dynamics[cpu-False-False-True]
tests/test_deformable_physics.py::test_muscle[genesis.engine.materials.MPM.muscle.Muscle-2]
[gw35] [  7%] PASSED tests/test_quadrants.py::test_num_envs[False-False-gpu-None]
tests/test_usd.py::test_usd_bake[cuda-usd/franka_mocap_teleop/table_scene.usd]
[gw51] [  8%] PASSED tests/test_bvh.py::test_query[gpu-5-1]
tests/test_ipc.py::test_collision_delegation_ipc_vs_rigid[two_way_soft_constraint-True]
[gw31] [  8%] PASSED tests/test_quadrants.py::test_num_envs[False-True-cpu-None]
tests/test_utils.py::test_geom_quadrants_vs_tensor_consistency[(10, 40, 25)]
[gw29] [  8%] PASSED tests/test_quadrants.py::test_num_envs[False-False-cpu-None]
tests/test_usd.py::test_usd_bake[cuda-usd/WoodenCrate/WoodenCrate_D1_1002.usda]
[gw33] [  8%] PASSED tests/test_quadrants.py::test_num_envs[False-True-gpu-None]
tests/test_utils.py::test_geom_quadrants_vs_tensor_consistency[()]
[gw36] [  8%] PASSED tests/test_quadrants.py::test_ndarray_no_compile[gpu-[(1, 0), (2, 1)]-None]
tests/test_bvh.py::test_build_tree[cpu-5-1]
[gw38] [  8%] PASSED tests/test_quadrants.py::test_ndarray_no_compile[cpu-[(1, 0), (2, 1), (2, 2), (3, 3)]-None]
tests/test_bvh.py::test_build_tree[gpu-5-1]
[gw56] [  9%] PASSED tests/test_fem.py::test_interior_tetrahedralized_vertex
tests/test_kinematic.py::test_setters
[gw58] [  9%] PASSED tests/test_grad.py::test_differentiable_rigid[cpu]
tests/test_rigid_physics.py::test_path_planning_avoidance[gpu-2]
[gw10] [  9%] PASSED tests/test_rigid_physics.py::test_noslip_iterations[cpu-True-0.5-1.0]
tests/test_hybrid.py::test_fluid_emitter[2-genesis.engine.materials.MPM.snow.Snow]
[gw36] [  9%] PASSED tests/test_bvh.py::test_build_tree[cpu-5-1]
tests/test_ipc.py::test_robot_grasp_fem[two_way_soft_constraint]
[gw5] [  9%] PASSED tests/test_rigid_physics.py::test_noslip_iterations[cpu-False-0.5-0.04]
tests/test_hybrid.py::test_fluid_emitter[1-genesis.engine.materials.SPH.liquid.Liquid]
[gw50] [  9%] PASSED tests/test_deformable_physics.py::test_deformable_parallel[gpu]
tests/test_rigid_physics.py::test_path_planning_avoidance[gpu-0]
[gw38] [  9%] PASSED tests/test_bvh.py::test_build_tree[gpu-5-1]
tests/test_ipc.py::test_momentum_conservation[0]
[gw11] [ 10%] PASSED tests/test_rigid_physics.py::test_noslip_iterations[cpu-True-2.0-0.04]
tests/test_hybrid.py::test_fluid_emitter[2-genesis.engine.materials.MPM.elastic.Elastic]
[gw47] [ 10%] PASSED tests/test_deformable_physics.py::test_muscle[genesis.engine.materials.FEM.muscle.Muscle-2]
tests/test_ipc.py::test_cloth_uniform_biaxial_stretching[50000.0-0.49-0.3-0]
[gw62] [ 10%] PASSED tests/test_deformable_physics.py::test_sf_solver
tests/test_ipc.py::test_coup_collision_links
[gw49] [ 10%] PASSED tests/test_rigid_physics.py::test_scene_saver_franka[gpu]
tests/test_grad.py::test_diff_contact[cpu]
[gw33] [ 10%] PASSED tests/test_utils.py::test_geom_quadrants_vs_tensor_consistency[()]
tests/test_ipc.py::test_apply_forces_base_link[100-2]
[gw40] [ 10%] PASSED tests/test_quadrants.py::test_ndarray_no_compile[gpu-[(3, 3), (4, 4)]-None]
tests/test_bvh.py::test_build_tree[gpu-500-10]
[gw56] [ 11%] PASSED tests/test_kinematic.py::test_setters
tests/test_render.py::test_deterministic[RASTERIZER]
[gw32] [ 11%] PASSED tests/test_ipc.py::test_objects_freefall[0]
tests/test_quadrants.py::test_to_torch[('ndarray', 'vector')-(7,)-(2, 3, 5)]
[gw40] [ 11%] PASSED tests/test_bvh.py::test_build_tree[gpu-500-10]
tests/test_ipc.py::test_robot_grasp_fem[external_articulation]
[gw34] [ 11%] PASSED tests/test_ipc.py::test_objects_freefall[2]
tests/test_quadrants.py::test_to_torch[('ndarray', 'vector')-(7,)-()]
[gw8] [ 11%] PASSED tests/test_rigid_physics.py::test_noslip_iterations[cpu-False-2.0-1.0]
tests/test_hybrid.py::test_fluid_emitter[2-genesis.engine.materials.MPM.liquid.Liquid]
[gw32] [ 11%] PASSED tests/test_quadrants.py::test_to_torch[('ndarray', 'vector')-(7,)-(2, 3, 5)]
tests/test_render.py::test_add_camera_vs_interactive_viewer_consistency[RASTERIZER-True]
[gw7] [ 11%] PASSED tests/test_rigid_physics.py::test_noslip_iterations[cpu-False-2.0-0.04]
tests/test_hybrid.py::test_fluid_emitter[2-genesis.engine.materials.PBD.liquid.Liquid]
[gw9] [ 12%] PASSED tests/test_rigid_physics.py::test_noslip_iterations[cpu-True-0.5-0.04]
tests/test_hybrid.py::test_fluid_emitter[2-genesis.engine.materials.MPM.sand.Sand]
[gw34] [ 12%] PASSED tests/test_quadrants.py::test_to_torch[('ndarray', 'vector')-(7,)-()]
tests/test_render.py::test_deformable_uv_textures[RASTERIZER]
[gw6] [ 12%] PASSED tests/test_rigid_physics.py::test_noslip_iterations[cpu-False-0.5-1.0]
tests/test_hybrid.py::test_fluid_emitter[2-genesis.engine.materials.SPH.liquid.Liquid]
[gw42] [ 12%] PASSED tests/test_render.py::test_sensors_draw_debug[RASTERIZER-2]
tests/test_bvh.py::test_query[cpu-5-1]
[gw57] [ 12%] PASSED tests/test_integration.py::test_pick_and_place[gpu-2]
tests/test_rigid_physics.py::test_convexify[gpu-False-(74, 15, 90)]
[gw39] [ 12%] PASSED tests/test_ipc.py::test_objects_colliding[2]
tests/test_quadrants.py::test_to_torch[('ndarray', 'matrix')-(7, 1)-()]
[gw42] [ 13%] PASSED tests/test_bvh.py::test_query[cpu-5-1]
tests/test_ipc.py::test_collision_delegation_ipc_vs_rigid[ipc_only-True]
[gw2] [ 13%] PASSED tests/test_rigid_physics.py::test_data_accessor[0-False-cpu]
tests/test_grad.py::test_diff_solver[gpu]
[gw44] [ 13%] PASSED tests/test_deformable_physics.py::test_muscle[genesis.engine.materials.FEM.muscle.Muscle-0]
tests/test_ipc.py::test_cloth_uniform_biaxial_stretching[10000.0-0.3-1.0-2]
[gw41] [ 13%] PASSED tests/test_ipc.py::test_collision_delegation_ipc_vs_rigid[ipc_only-False]
tests/test_quadrants.py::test_linear_to_lower_tri[92]
[gw54] [ 13%] PASSED tests/test_integration.py::test_pick_and_place[gpu-0]
tests/test_rigid_physics.py::test_convexify[gpu-True-(74, 15, 90)]
[gw43] [ 13%] PASSED tests/test_render.py::test_sensors_draw_debug[RASTERIZER-0]
tests/test_bvh.py::test_query[cpu-500-10]
[gw46] [ 13%] PASSED tests/test_deformable_physics.py::test_muscle[genesis.engine.materials.MPM.muscle.Muscle-0]
tests/test_ipc.py::test_collision_delegation_ipc_vs_rigid[two_way_soft_constraint-False]
[gw5] [ 14%] PASSED tests/test_hybrid.py::test_fluid_emitter[1-genesis.engine.materials.SPH.liquid.Liquid]
tests/test_mesh.py::test_2_channels_luminance_alpha_textures
[gw52] [ 14%] PASSED tests/test_hybrid.py::test_mesh_mpm_build
tests/test_rigid_physics.py::test_convexify[cpu-True-(74, 15, 90)]
[gw4] [ 14%] PASSED tests/test_rigid_physics.py::test_data_accessor[3-False-cpu]
tests/test_hybrid.py::test_fluid_emitter[0-genesis.engine.materials.SPH.liquid.Liquid]
[gw11] [ 14%] PASSED tests/test_hybrid.py::test_fluid_emitter[2-genesis.engine.materials.MPM.elastic.Elastic]
tests/test_misc.py::test_scene_destroy_cleans_up_simulator
[gw10] [ 14%] PASSED tests/test_hybrid.py::test_fluid_emitter[2-genesis.engine.materials.MPM.snow.Snow]
tests/test_mesh.py::test_convex_decompose_cache
[gw39] [ 14%] PASSED tests/test_quadrants.py::test_to_torch[('ndarray', 'matrix')-(7, 1)-()]
tests/test_render.py::test_rasterizer_camera_sensor_with_viewer[RASTERIZER]
[gw55] [ 15%] PASSED tests/test_grad.py::test_differentiable_push[gpu]
tests/test_mesh.py::test_glb_parse_geometry[glb/combined_srt.glb-32]
[gw63] [ 15%] PASSED tests/test_rigid_physics.py::test_convexify[cpu-False-(90, 0, 90)]
tests/test_fem.py::test_implicit_sap_coupler_collide_sphere_box[64]
[gw59] [ 15%] PASSED tests/test_rigid_physics.py::test_convexify[cpu-False-(74, 15, 90)]
tests/test_fem.py::test_explicit_legacy_coupler_soft_constraint_box[64]
[gw43] [ 15%] PASSED tests/test_bvh.py::test_query[cpu-500-10]
tests/test_ipc.py::test_momentum_conservation[2]
[gw41] [ 15%] PASSED tests/test_quadrants.py::test_linear_to_lower_tri[92]
tests/test_rigid_physics.py::test_box_plane_dynamics[cpu-implicitfast-CG-box_plan]
[gw55] [ 15%] PASSED tests/test_mesh.py::test_glb_parse_geometry[glb/combined_srt.glb-32]
tests/test_render.py::test_madrona_batch_texture[BATCHRENDER_RASTERIZER]
[gw60] [ 15%] PASSED tests/test_integration.py::test_pick_and_place[gpu-1]
tests/test_rigid_physics.py::test_convexify[gpu-False-(90, 0, 90)]
[gw61] [ 16%] PASSED tests/test_rigid_physics.py::test_stickman[gpu-True-Euler-Newton-xml/humanoid.xml]
tests/test_deformable_physics.py::test_mpm_particle_constraints
[gw62] [ 16%] PASSED tests/test_ipc.py::test_coup_collision_links
tests/test_render.py::test_render_api[BATCHRENDER_RAYTRACER]
[gw49] [ 16%] PASSED tests/test_grad.py::test_diff_contact[cpu]
tests/test_mesh.py::test_glb_parse_geometry[glb/combined_transform.glb-32]
[gw45] [ 16%] PASSED tests/test_deformable_physics.py::test_muscle[genesis.engine.materials.MPM.muscle.Muscle-2]
tests/test_ipc.py::test_cloth_uniform_biaxial_stretching[10000.0-0.3-1.0-0]
[gw5] [ 16%] PASSED tests/test_mesh.py::test_2_channels_luminance_alpha_textures
tests/test_render.py::test_segmentation_map[visual-link-RASTERIZER]
[gw49] [ 16%] PASSED tests/test_mesh.py::test_glb_parse_geometry[glb/combined_transform.glb-32]
tests/test_render.py::test_madrona_batch_texture[BATCHRENDER_RAYTRACER]
[gw12] [ 17%] PASSED tests/test_ipc.py::test_cloth_corner_drag[0]
tests/test_rigid_physics.py::test_noslip_iterations[cpu-True-2.0-1.0]
[gw33] [ 17%] PASSED tests/test_ipc.py::test_apply_forces_base_link[100-2]
tests/test_quadrants.py::test_to_torch[('ndarray', 'scalar')-()-()]
[gw6] [ 17%] PASSED tests/test_hybrid.py::test_fluid_emitter[2-genesis.engine.materials.SPH.liquid.Liquid]
tests/test_mesh.py::test_plane_texture_path_preservation
[gw59] [ 17%] XFAIL tests/test_fem.py::test_explicit_legacy_coupler_soft_constraint_box[64]
tests/test_mesh.py::test_urdf_scale[glb/combined_transform.glb]
[gw38] [ 17%] PASSED tests/test_ipc.py::test_momentum_conservation[0]
tests/test_quadrants.py::test_linear_to_lower_tri[32]
[gw8] [ 17%] PASSED tests/test_hybrid.py::test_fluid_emitter[2-genesis.engine.materials.MPM.liquid.Liquid]
tests/test_mesh.py::test_urdf_with_float_texture_glb[2-numpy.float64]
[gw7] [ 17%] PASSED tests/test_hybrid.py::test_fluid_emitter[2-genesis.engine.materials.PBD.liquid.Liquid]
tests/test_mesh.py::test_urdf_with_float_texture_glb[1-numpy.float32]
[gw33] [ 18%] PASSED tests/test_quadrants.py::test_to_torch[('ndarray', 'scalar')-()-()]
tests/test_render.py::test_add_camera_vs_interactive_viewer_consistency[RASTERIZER-False]
[gw9] [ 18%] PASSED tests/test_hybrid.py::test_fluid_emitter[2-genesis.engine.materials.MPM.sand.Sand]
tests/test_mesh.py::test_splashsurf_surface_reconstruction
[gw11] [ 18%] PASSED tests/test_misc.py::test_scene_destroy_cleans_up_simulator
tests/test_render.py::test_segmentation_map[particle-entity-RASTERIZER]
[gw6] [ 18%] PASSED tests/test_mesh.py::test_plane_texture_path_preservation
tests/test_render.py::test_segmentation_map[visual-link-BATCHRENDER_RASTERIZER]
[gw59] [ 18%] PASSED tests/test_mesh.py::test_urdf_scale[glb/combined_transform.glb]
tests/test_render.py::test_render_api_advanced[4-RASTERIZER]
[gw8] [ 18%] PASSED tests/test_mesh.py::test_urdf_with_float_texture_glb[2-numpy.float64]
tests/test_render.py::test_segmentation_map[visual-geom-RASTERIZER]
[gw2] [ 19%] PASSED tests/test_grad.py::test_diff_solver[gpu]
tests/test_mesh.py::test_urdf_mesh_processing
[gw38] [ 19%] PASSED tests/test_quadrants.py::test_linear_to_lower_tri[32]
tests/test_render.py::test_rasterizer_sensor_env_spacing_invariance[sensor_only-RASTERIZER]
[gw10] [ 19%] PASSED tests/test_mesh.py::test_convex_decompose_cache
tests/test_render.py::test_segmentation_map[visual-geom-BATCHRENDER_RAYTRACER]
[gw7] [ 19%] PASSED tests/test_mesh.py::test_urdf_with_float_texture_glb[1-numpy.float32]
tests/test_render.py::test_segmentation_map[visual-link-BATCHRENDER_RAYTRACER]
[gw4] [ 19%] PASSED tests/test_hybrid.py::test_fluid_emitter[0-genesis.engine.materials.SPH.liquid.Liquid]
tests/test_mesh.py::test_mjcf_parse_material[32]
[gw28] [ 19%] PASSED tests/test_rigid_physics.py::test_heterogeneous_simulation
tests/test_ipc.py::test_find_target_links[False-external_articulation]
[gw42] [ 19%] PASSED tests/test_ipc.py::test_collision_delegation_ipc_vs_rigid[ipc_only-True]
tests/test_quadrants.py::test_linear_to_lower_tri[64]
[gw63] [ 20%] PASSED tests/test_fem.py::test_implicit_sap_coupler_collide_sphere_box[64]
tests/test_mesh.py::test_morph_scale[meshes/axis.obj-(2.0, 2.0, 2.0)]
[gw32] [ 20%] PASSED tests/test_render.py::test_add_camera_vs_interactive_viewer_consistency[RASTERIZER-True]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-implicitfast-CG-xml/tet_capsule.xml]
[gw23] [ 20%] PASSED tests/test_rigid_physics.py::test_batched_info[False-False-False]
tests/test_ipc.py::test_rigid_ground_sliding[2]
[gw62] [ 20%] PASSED tests/test_render.py::test_render_api[BATCHRENDER_RAYTRACER]
tests/test_rigid_physics.py::test_simple_kinematic_chain[cpu-True-Euler-CG-chain_capsule_hinge_mesh]
[gw47] [ 20%] PASSED tests/test_ipc.py::test_cloth_uniform_biaxial_stretching[50000.0-0.49-0.3-0]
tests/test_render.py::test_render_api[RAYTRACER]
[gw21] [ 20%] PASSED tests/test_rigid_physics.py::test_noslip_iterations[gpu-True-2.0-1.0]
tests/test_ipc.py::test_rigid_ground_sliding[0]
[gw42] [ 21%] PASSED tests/test_quadrants.py::test_linear_to_lower_tri[64]
tests/test_render.py::test_rasterizer_sensor_env_spacing_invariance[with_viewer-RASTERIZER]
[gw25] [ 21%] PASSED tests/test_rigid_physics.py::test_batched_info[True-True-True]
tests/test_ipc.py::test_find_target_links[False-two_way_soft_constraint]
[gw30] [ 21%] PASSED tests/test_rigid_physics.py::test_batched_info[True-False-True]
tests/test_ipc.py::test_find_target_links[True-two_way_soft_constraint]
[gw37] [ 21%] PASSED tests/test_ipc.py::test_objects_colliding[0]
tests/test_quadrants.py::test_to_torch[('ndarray', 'matrix')-(7, 1)-(2, 3, 5)]
[gw0] [ 21%] PASSED tests/test_rigid_physics.py::test_cholesky_tiling[gpu-32]
tests/test_grad.py::test_diff_contact[gpu]
[gw41] [ 21%] PASSED tests/test_rigid_physics.py::test_box_plane_dynamics[cpu-implicitfast-CG-box_plan]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-Euler-Newton-xml/tet_capsule.xml]
[gw2] [ 21%] PASSED tests/test_mesh.py::test_urdf_mesh_processing
tests/test_render.py::test_segmentation_map[visual-entity-RASTERIZER]
[gw24] [ 22%] PASSED tests/test_rigid_physics.py::test_batched_info[False-True-True]
tests/test_ipc.py::test_needs_coup
[gw52] [ 22%] PASSED tests/test_rigid_physics.py::test_convexify[cpu-True-(74, 15, 90)]
tests/test_fem.py::test_implicit_falling_sphere_box[genesis.options.solvers.LegacyCouplerOptions-linear-64]
[gw34] [ 22%] PASSED tests/test_render.py::test_deformable_uv_textures[RASTERIZER]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-implicitfast-Newton-xml/tet_tet.xml]
[gw63] [ 22%] PASSED tests/test_mesh.py::test_morph_scale[meshes/axis.obj-(2.0, 2.0, 2.0)]
tests/test_render.py::test_render_api_advanced[0-BATCHRENDER_RAYTRACER]
[gw61] [ 22%] PASSED tests/test_deformable_physics.py::test_mpm_particle_constraints
tests/test_ipc.py::test_cloth_uniform_biaxial_stretching[50000.0-0.49-0.3-2]
[gw1] [ 22%] PASSED tests/test_rigid_physics.py::test_cholesky_tiling[gpu-64]
tests/test_grad.py::test_diff_solver[cpu]
[gw37] [ 23%] PASSED tests/test_quadrants.py::test_to_torch[('ndarray', 'matrix')-(7, 1)-(2, 3, 5)]
tests/test_render.py::test_deformable_uv_textures[RAYTRACER]
[gw29] [ 23%] PASSED tests/test_usd.py::test_usd_bake[cuda-usd/WoodenCrate/WoodenCrate_D1_1002.usda]
tests/test_ipc.py::test_apply_forces_base_link[1-0]
[gw22] [ 23%] PASSED tests/test_rigid_physics.py::test_batched_info[False-False-True]
tests/test_ipc.py::test_ipc_rigid_ground_clearance[0]
[gw39] [ 23%] PASSED tests/test_render.py::test_rasterizer_camera_sensor_with_viewer[RASTERIZER]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-implicitfast-Newton-xml/tet_capsule.xml]
[gw26] [ 23%] PASSED tests/test_rigid_physics.py::test_batched_info[True-False-False]
tests/test_ipc.py::test_link_filter_strict
[gw4] [ 23%] PASSED tests/test_mesh.py::test_mjcf_parse_material[32]
tests/test_render.py::test_segmentation_map[visual-entity-BATCHRENDER_RAYTRACER]
[gw27] [ 23%] PASSED tests/test_rigid_physics.py::test_batched_info[True-True-False]
tests/test_ipc.py::test_find_target_links[True-external_articulation]
[gw15] [ 24%] PASSED tests/test_rigid_physics.py::test_noslip_iterations[gpu-False-2.0-0.04]
tests/test_hybrid.py::test_rigid_mpm_legacy_coupling[10]
[gw3] [ 24%] PASSED tests/test_rigid_physics.py::test_data_accessor[0-False-gpu]
tests/test_hybrid.py::test_rigid_mpm_muscle
[gw9] [ 24%] PASSED tests/test_mesh.py::test_splashsurf_surface_reconstruction
tests/test_render.py::test_segmentation_map[visual-geom-BATCHRENDER_RASTERIZER]
[gw6] [ 24%] PASSED tests/test_render.py::test_segmentation_map[visual-link-BATCHRENDER_RASTERIZER]
tests/test_rigid_physics.py::test_equality_link[cpu-Euler-Newton-connect.xml]
[gw43] [ 24%] PASSED tests/test_ipc.py::test_momentum_conservation[2]
tests/test_quadrants.py::test_linear_to_lower_tri[62]
[gw31] [ 24%] PASSED tests/test_utils.py::test_geom_quadrants_vs_tensor_consistency[(10, 40, 25)]
tests/test_ipc.py::test_apply_forces_base_link[100-0]
[gw10] [ 25%] PASSED tests/test_render.py::test_segmentation_map[visual-geom-BATCHRENDER_RAYTRACER]
tests/test_rigid_physics.py::test_one_ball_joint[cpu-implicitfast-CG-xml/one_ball_joint.xml]
[gw51] [ 25%] PASSED tests/test_ipc.py::test_collision_delegation_ipc_vs_rigid[two_way_soft_constraint-True]
tests/test_recorders.py::test_plotter
[gw17] [ 25%] PASSED tests/test_rigid_physics.py::test_noslip_iterations[gpu-False-2.0-1.0]
tests/test_integration.py::test_hanging_rigid_cable[cpu]
[gw7] [ 25%] PASSED tests/test_render.py::test_segmentation_map[visual-link-BATCHRENDER_RAYTRACER]
tests/test_rigid_physics.py::test_dynamic_weld
[gw20] [ 25%] PASSED tests/test_rigid_physics.py::test_batched_info[False-True-False]
tests/test_ipc.py::test_ipc_rigid_ground_clearance[2]
[gw52] [ 25%] PASSED tests/test_fem.py::test_implicit_falling_sphere_box[genesis.options.solvers.LegacyCouplerOptions-linear-64]
tests/test_mesh.py::test_morph_scale[meshes/axis.obj-(0.5, 2.0, 8.0)]
[gw42] [ 25%] PASSED tests/test_render.py::test_rasterizer_sensor_env_spacing_invariance[with_viewer-RASTERIZER]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-Euler-Newton-xml/tet_ball.xml]
[gw44] [ 26%] PASSED tests/test_ipc.py::test_cloth_uniform_biaxial_stretching[10000.0-0.3-1.0-2]
tests/test_render.py::test_render_api[RASTERIZER]
[gw43] [ 26%] PASSED tests/test_quadrants.py::test_linear_to_lower_tri[62]
tests/test_render.py::test_rasterizer_sensor_env_spacing_invariance[with_scene_camera-RASTERIZER]
[gw28] [ 26%] PASSED tests/test_ipc.py::test_find_target_links[False-external_articulation]
tests/test_quadrants.py::test_to_torch[('field', 'matrix')-(7, 1)-()]
[gw19] [ 26%] PASSED tests/test_rigid_physics.py::test_noslip_iterations[gpu-True-2.0-0.04]
tests/test_ipc.py::test_contact_pair_friction_resistance[True]
[gw48] [ 26%] PASSED tests/test_rigid_physics.py::test_convexify[gpu-True-(90, 0, 90)]
tests/test_fem.py::test_hard_constraint[64-False]
[gw36] [ 26%] PASSED tests/test_ipc.py::test_robot_grasp_fem[two_way_soft_constraint]
tests/test_quadrants.py::test_to_torch[('ndarray', 'matrix')-(7, 11)-(2, 3, 5)]
[gw18] [ 26%] PASSED tests/test_rigid_physics.py::test_noslip_iterations[gpu-True-0.5-1.0]
tests/test_ipc.py::test_contact_pair_friction_resistance[False]
[gw33] [ 27%] PASSED tests/test_render.py::test_add_camera_vs_interactive_viewer_consistency[RASTERIZER-False]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-implicitfast-CG-xml/tet_ball.xml]
[gw38] [ 27%] PASSED tests/test_render.py::test_rasterizer_sensor_env_spacing_invariance[sensor_only-RASTERIZER]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-Euler-CG-xml/tet_capsule.xml]
[gw12] [ 27%] PASSED tests/test_rigid_physics.py::test_noslip_iterations[cpu-True-2.0-1.0]
tests/test_hybrid.py::test_sap_rigid_rigid_hydroelastic_contact[64]
[gw40] [ 27%] PASSED tests/test_ipc.py::test_robot_grasp_fem[external_articulation]
tests/test_quadrants.py::test_to_torch[('ndarray', 'matrix')-(7, 11)-()]
[gw16] [ 27%] PASSED tests/test_rigid_physics.py::test_noslip_iterations[gpu-True-0.5-0.04]
tests/test_integration.py::test_hanging_rigid_cable[gpu]
[gw24] [ 27%] PASSED tests/test_ipc.py::test_needs_coup
tests/test_quadrants.py::test_to_torch[('field', 'scalar')-()-(2, 3, 5)]
[gw0] [ 28%] PASSED tests/test_grad.py::test_diff_contact[gpu]
tests/test_mesh.py::test_glb_draco_missing_normals_texcoord[glb/tycoon_draco_no_normal.glb]
[gw28] [ 28%] PASSED tests/test_quadrants.py::test_to_torch[('field', 'matrix')-(7, 1)-()]
tests/test_render.py::test_camera_gimbal_lock_singularity[RASTERIZER]
[gw52] [ 28%] PASSED tests/test_mesh.py::test_morph_scale[meshes/axis.obj-(0.5, 2.0, 8.0)]
tests/test_render.py::test_render_api_advanced[0-BATCHRENDER_RASTERIZER]
[gw0] [ 28%] PASSED tests/test_mesh.py::test_glb_draco_missing_normals_texcoord[glb/tycoon_draco_no_normal.glb]
tests/test_render.py::test_madrona_fisheye_camera[BATCHRENDER_RASTERIZER]
[gw56] [ 28%] PASSED tests/test_render.py::test_deterministic[RASTERIZER]
tests/test_rigid_physics.py::test_simple_kinematic_chain[cpu-True-Euler-Newton-chain_capsule_hinge_mesh]
[gw24] [ 28%] PASSED tests/test_quadrants.py::test_to_torch[('field', 'scalar')-()-(2, 3, 5)]
tests/test_render.py::test_point_cloud[BATCHRENDER_RAYTRACER]
[gw25] [ 28%] PASSED tests/test_ipc.py::test_find_target_links[False-two_way_soft_constraint]
tests/test_quadrants.py::test_to_torch[('field', 'matrix')-(7, 1)-(2, 3, 5)]
[gw51] [ 29%] PASSED tests/test_recorders.py::test_plotter
tests/test_rigid_physics.py::test_box_plane_dynamics[cpu-implicitfast-Newton-box_plan]
[gw30] [ 29%] PASSED tests/test_ipc.py::test_find_target_links[True-two_way_soft_constraint]
tests/test_quadrants.py::test_to_torch[('field', 'vector')-(7,)-(2, 3, 5)]
[gw5] [ 29%] PASSED tests/test_render.py::test_segmentation_map[visual-link-RASTERIZER]
tests/test_rigid_physics.py::test_equality_link[cpu-Euler-Newton-weld.xml]
[gw4] [ 29%] PASSED tests/test_render.py::test_segmentation_map[visual-entity-BATCHRENDER_RAYTRACER]
tests/test_rigid_physics.py::test_equality_link[cpu-Euler-Newton-xml/four_bar_linkage_weld.xml]
[gw9] [ 29%] PASSED tests/test_render.py::test_segmentation_map[visual-geom-BATCHRENDER_RASTERIZER]
tests/test_rigid_physics.py::test_reset
[gw62] [ 29%] PASSED tests/test_rigid_physics.py::test_simple_kinematic_chain[cpu-True-Euler-CG-chain_capsule_hinge_mesh]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-Euler-CG-xml/tet_tet.xml]
[gw50] [ 30%] PASSED tests/test_rigid_physics.py::test_path_planning_avoidance[gpu-0]
tests/test_fem.py::test_maxvolume
[gw40] [ 30%] PASSED tests/test_quadrants.py::test_to_torch[('ndarray', 'matrix')-(7, 11)-()]
tests/test_render.py::test_rasterizer_env_separate[True-RASTERIZER]
[gw36] [ 30%] PASSED tests/test_quadrants.py::test_to_torch[('ndarray', 'matrix')-(7, 11)-(2, 3, 5)]
tests/test_render.py::test_rasterizer_env_separate[False-RASTERIZER]
[gw14] [ 30%] PASSED tests/test_rigid_physics.py::test_noslip_iterations[gpu-False-0.5-1.0]
tests/test_hybrid.py::test_rigid_mpm_legacy_coupling[1]
[gw27] [ 30%] PASSED tests/test_ipc.py::test_find_target_links[True-external_articulation]
tests/test_quadrants.py::test_to_torch[('field', 'vector')-(7,)-()]
[gw45] [ 30%] PASSED tests/test_ipc.py::test_cloth_uniform_biaxial_stretching[10000.0-0.3-1.0-0]
tests/test_recorders.py::test_video_writer
[gw28] [ 30%] PASSED tests/test_render.py::test_camera_gimbal_lock_singularity[RASTERIZER]
tests/test_rigid_physics.py::test_rope_ball[cpu-False-Euler-Newton-xml/rope_hinge.xml]
[gw1] [ 31%] PASSED tests/test_grad.py::test_diff_solver[cpu]
tests/test_mesh.py::test_glb_draco_missing_normals_texcoord[glb/tycoon_with_normal_draco.glb]
[gw25] [ 31%] PASSED tests/test_quadrants.py::test_to_torch[('field', 'matrix')-(7, 1)-(2, 3, 5)]
tests/test_render.py::test_interactive_viewer_key_press[RASTERIZER]
[gw35] [ 31%] PASSED tests/test_usd.py::test_usd_bake[cuda-usd/franka_mocap_teleop/table_scene.usd]
tests/test_ipc.py::test_apply_forces_base_link[1-2]
[gw47] [ 31%] PASSED tests/test_render.py::test_render_api[RAYTRACER]
tests/test_rigid_physics.py::test_simple_kinematic_chain[cpu-True-implicitfast-CG-chain_capsule_hinge_mesh]
[gw59] [ 31%] PASSED tests/test_render.py::test_render_api_advanced[4-RASTERIZER]
tests/test_rigid_physics.py::test_frictionloss[cpu-implicitfast-Newton-hinge_slide]
[gw23] [ 31%] PASSED tests/test_ipc.py::test_rigid_ground_sliding[2]
tests/test_pbd.py::test_get_mass[0]
[gw55] [ 32%] PASSED tests/test_render.py::test_madrona_batch_texture[BATCHRENDER_RASTERIZER]
tests/test_rigid_physics.py::test_walker[cpu-False-implicitfast-CG-xml/walker.xml]
[gw41] [ 32%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-Euler-Newton-xml/tet_capsule.xml]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-0]
[gw15] [ 32%] PASSED tests/test_hybrid.py::test_rigid_mpm_legacy_coupling[10]
tests/test_misc.py::test_get_entity_by_uid
[gw30] [ 32%] PASSED tests/test_quadrants.py::test_to_torch[('field', 'vector')-(7,)-(2, 3, 5)]
tests/test_render.py::test_draw_debug_frustum_and_trajectory[0-RASTERIZER]
[gw1] [ 32%] PASSED tests/test_mesh.py::test_glb_draco_missing_normals_texcoord[glb/tycoon_with_normal_draco.glb]
tests/test_render.py::test_madrona_fisheye_camera[BATCHRENDER_RAYTRACER]
[gw43] [ 32%] PASSED tests/test_render.py::test_rasterizer_sensor_env_spacing_invariance[with_scene_camera-RASTERIZER]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-Euler-Newton-xml/tet_tet.xml]
[gw10] [ 32%] PASSED tests/test_rigid_physics.py::test_one_ball_joint[cpu-implicitfast-CG-xml/one_ball_joint.xml]
tests/test_rigid_physics.py::test_filter_neutral_self_collisions
[gw11] [ 33%] PASSED tests/test_render.py::test_segmentation_map[particle-entity-RASTERIZER]
tests/test_rigid_physics.py::test_one_ball_joint[cpu-implicitfast-Newton-xml/one_ball_joint.xml]
[gw58] [ 33%] PASSED tests/test_rigid_physics.py::test_path_planning_avoidance[gpu-2]
tests/test_fem.py::test_implicit_falling_sphere_box[genesis.options.solvers.SAPCouplerOptions-linear-64]
[gw32] [ 33%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-implicitfast-CG-xml/tet_capsule.xml]
tests/test_rigid_physics.py::test_set_dofs_frictionloss_physics[Euler-Newton-hinge_slide]
[gw27] [ 33%] PASSED tests/test_quadrants.py::test_to_torch[('field', 'vector')-(7,)-()]
tests/test_render.py::test_draw_debug_frustum_and_trajectory[2-RASTERIZER]
[gw50] [ 33%] PASSED tests/test_fem.py::test_maxvolume
tests/test_kinematic.py::test_track_rigid
[gw37] [ 33%] PASSED tests/test_render.py::test_deformable_uv_textures[RAYTRACER]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-implicitfast-Newton-xml/tet_ball.xml]
[gw21] [ 34%] PASSED tests/test_ipc.py::test_rigid_ground_sliding[0]
tests/test_pbd.py::test_cloth_attach_fixed_point[gpu-genesis.engine.materials.PBD.cloth.Cloth-2]
[gw26] [ 34%] PASSED tests/test_ipc.py::test_link_filter_strict
tests/test_quadrants.py::test_to_torch[('field', 'scalar')-()-()]
[gw34] [ 34%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-implicitfast-Newton-xml/tet_tet.xml]
tests/test_rigid_physics.py::test_frictionloss_advanced
[gw29] [ 34%] PASSED tests/test_ipc.py::test_apply_forces_base_link[1-0]
tests/test_quadrants.py::test_to_torch[('field', 'matrix')-(7, 11)-(2, 3, 5)]
[gw53] [ 34%] PASSED tests/test_grad.py::test_differentiable_rigid[gpu]
tests/test_rigid_physics.py::test_convexify[cpu-True-(90, 0, 90)]
[gw6] [ 34%] PASSED tests/test_rigid_physics.py::test_equality_link[cpu-Euler-Newton-connect.xml]
tests/test_rigid_physics.py::test_robot_scale_and_dofs_armature[xml/franka_emika_panda/panda.xml-gpu]
[gw54] [ 34%] PASSED tests/test_rigid_physics.py::test_convexify[gpu-True-(74, 15, 90)]
tests/test_fem.py::test_hard_constraint[64-True]
[gw8] [ 35%] PASSED tests/test_render.py::test_segmentation_map[visual-geom-RASTERIZER]
tests/test_rigid_physics.py::test_dynamic_weld_scene_reset
[gw46] [ 35%] PASSED tests/test_ipc.py::test_collision_delegation_ipc_vs_rigid[two_way_soft_constraint-False]
tests/test_recorders.py::test_file_writers
[gw31] [ 35%] PASSED tests/test_ipc.py::test_apply_forces_base_link[100-0]
tests/test_quadrants.py::test_to_torch[('ndarray', 'scalar')-()-(2, 3, 5)]
[gw48] [ 35%] PASSED tests/test_fem.py::test_hard_constraint[64-False]
tests/test_mesh.py::test_urdf_scale[yup_zup_coverage/cannon_y_-z.stl]
[gw15] [ 35%] PASSED tests/test_misc.py::test_get_entity_by_uid
tests/test_render.py::test_segmentation_map[particle-link-BATCHRENDER_RASTERIZER]
[gw57] [ 35%] PASSED tests/test_rigid_physics.py::test_convexify[gpu-False-(74, 15, 90)]
tests/test_grad.py::test_differentiable_push[cpu]
[gw26] [ 36%] PASSED tests/test_quadrants.py::test_to_torch[('field', 'scalar')-()-()]
tests/test_render.py::test_draw_debug[RASTERIZER]
[gw22] [ 36%] PASSED tests/test_ipc.py::test_ipc_rigid_ground_clearance[0]
tests/test_pbd.py::test_get_mass[2]
[gw49] [ 36%] PASSED tests/test_render.py::test_madrona_batch_texture[BATCHRENDER_RAYTRACER]
tests/test_rigid_physics.py::test_walker[cpu-False-Euler-CG-xml/walker.xml]
[gw31] [ 36%] PASSED tests/test_quadrants.py::test_to_torch[('ndarray', 'scalar')-()-(2, 3, 5)]
tests/test_render.py::test_render_planes[BATCHRENDER_RAYTRACER]
[gw39] [ 36%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-implicitfast-Newton-xml/tet_capsule.xml]
tests/test_rigid_physics.py::test_mesh_repair[cpu-True-True]
[gw48] [ 36%] PASSED tests/test_mesh.py::test_urdf_scale[yup_zup_coverage/cannon_y_-z.stl]
tests/test_render.py::test_render_api_advanced[4-BATCHRENDER_RASTERIZER]
[gw60] [ 36%] PASSED tests/test_rigid_physics.py::test_convexify[gpu-False-(90, 0, 90)]
tests/test_fem.py::test_implicit_sap_coupler_hard_constraint_and_collision[64]
[gw29] [ 37%] PASSED tests/test_quadrants.py::test_to_torch[('field', 'matrix')-(7, 11)-(2, 3, 5)]
tests/test_render.py::test_render_planes[RASTERIZER]
[gw24] [ 37%] PASSED tests/test_render.py::test_point_cloud[BATCHRENDER_RAYTRACER]
tests/test_rigid_physics.py::test_rope_ball[cpu-False-implicitfast-Newton-xml/rope_ball.xml]
[gw44] [ 37%] PASSED tests/test_render.py::test_render_api[RASTERIZER]
tests/test_rigid_physics.py::test_general_actuator[cpu-Euler-CG-general_actuator]
[gw17] [ 37%] PASSED tests/test_integration.py::test_hanging_rigid_cable[cpu]
tests/test_misc.py::test_entity_names_property
[gw2] [ 37%] PASSED tests/test_render.py::test_segmentation_map[visual-entity-RASTERIZER]
tests/test_rigid_physics.py::test_equality_joint[cpu-Euler-CG-mimic_hinges]
[gw42] [ 37%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-Euler-Newton-xml/tet_ball.xml]
tests/test_rigid_physics.py::test_num_contact_overflow[gpu]
[gw23] [ 38%] PASSED tests/test_pbd.py::test_get_mass[0]
tests/test_render.py::test_camera_follow_entity[RASTERIZER-2]
[gw61] [ 38%] PASSED tests/test_ipc.py::test_cloth_uniform_biaxial_stretching[50000.0-0.49-0.3-2]
tests/test_render.py::test_render_api[BATCHRENDER_RASTERIZER]
[gw14] [ 38%] PASSED tests/test_hybrid.py::test_rigid_mpm_legacy_coupling[1]
tests/test_misc.py::test_get_entity_by_name
[gw17] [ 38%] PASSED tests/test_misc.py::test_entity_names_property
tests/test_render.py::test_segmentation_map[particle-link-BATCHRENDER_RAYTRACER]
[gw51] [ 38%] PASSED tests/test_rigid_physics.py::test_box_plane_dynamics[cpu-implicitfast-Newton-box_plan]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-implicitfast-CG-xml/tet_tet.xml]
[gw46] [ 38%] PASSED tests/test_recorders.py::test_file_writers
tests/test_rigid_physics.py::test_box_plane_dynamics[cpu-Euler-CG-box_plan]
[gw41] [ 38%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-0]
tests/test_rigid_physics.py::test_drone_propellers_force_substep_consistency
[gw12] [ 39%] PASSED tests/test_hybrid.py::test_sap_rigid_rigid_hydroelastic_contact[64]
tests/test_misc.py::test_scene_destroy_idempotent
[gw20] [ 39%] PASSED tests/test_ipc.py::test_ipc_rigid_ground_clearance[2]
tests/test_pbd.py::test_cloth_attach_rigid_link
[gw63] [ 39%] PASSED tests/test_render.py::test_render_api_advanced[0-BATCHRENDER_RAYTRACER]
tests/test_rigid_physics.py::test_frictionloss[cpu-implicitfast-CG-hinge_slide]
[gw32] [ 39%] PASSED tests/test_rigid_physics.py::test_set_dofs_frictionloss_physics[Euler-Newton-hinge_slide]
tests/test_rigid_physics.py::test_mjcf_parsing_merge_fixed_links[box_freejoint_offset]
[gw19] [ 39%] PASSED tests/test_ipc.py::test_contact_pair_friction_resistance[True]
tests/test_pbd.py::test_cloth_attach_fixed_point[gpu-genesis.engine.materials.PBD.cloth.Cloth-0]
[gw5] [ 39%] PASSED tests/test_rigid_physics.py::test_equality_link[cpu-Euler-Newton-weld.xml]
tests/test_rigid_physics.py::test_robot_scale_and_dofs_armature[xml/franka_emika_panda/panda.xml-cpu]
[gw54] [ 40%] PASSED tests/test_fem.py::test_hard_constraint[64-True]
tests/test_mesh.py::test_mesh_yup
[gw56] [ 40%] PASSED tests/test_rigid_physics.py::test_simple_kinematic_chain[cpu-True-Euler-Newton-chain_capsule_hinge_mesh]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-Euler-CG-xml/tet_ball.xml]
[gw58] [ 40%] PASSED tests/test_fem.py::test_implicit_falling_sphere_box[genesis.options.solvers.SAPCouplerOptions-linear-64]
tests/test_mesh.py::test_morph_scale[meshes/camera/camera.glb-(0.5, 2.0, 8.0)]
[gw4] [ 40%] PASSED tests/test_rigid_physics.py::test_equality_link[cpu-Euler-Newton-xml/four_bar_linkage_weld.xml]
tests/test_rigid_physics.py::test_robot_kinematics[gpu-Euler-CG-xml/franka_emika_panda/panda.xml]
[gw11] [ 40%] PASSED tests/test_rigid_physics.py::test_one_ball_joint[cpu-implicitfast-Newton-xml/one_ball_joint.xml]
tests/test_rigid_physics.py::test_info_batching
[gw33] [ 40%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-implicitfast-CG-xml/tet_ball.xml]
tests/test_rigid_physics.py::test_set_dofs_frictionloss_physics[Euler-CG-hinge_slide]
[gw15] [ 40%] PASSED tests/test_render.py::test_segmentation_map[particle-link-BATCHRENDER_RASTERIZER]
tests/test_rigid_physics.py::test_rope_ball[cpu-True-implicitfast-CG-xml/rope_hinge.xml]
[gw21] [ 41%] PASSED tests/test_pbd.py::test_cloth_attach_fixed_point[gpu-genesis.engine.materials.PBD.cloth.Cloth-2]
tests/test_render.py::test_camera_follow_entity[RASTERIZER-0]
[gw14] [ 41%] PASSED tests/test_misc.py::test_get_entity_by_name
tests/test_render.py::test_segmentation_map[particle-link-RASTERIZER]
[gw18] [ 41%] PASSED tests/test_ipc.py::test_contact_pair_friction_resistance[False]
tests/test_pbd.py::test_maxvolume
[gw28] [ 41%] PASSED tests/test_rigid_physics.py::test_rope_ball[cpu-False-Euler-Newton-xml/rope_hinge.xml]
tests/test_rigid_physics.py::test_apply_external_forces[double_ball_pendulum]
[gw62] [ 41%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-Euler-CG-xml/tet_tet.xml]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-7]
[gw38] [ 41%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-Euler-CG-xml/tet_capsule.xml]
tests/test_rigid_physics.py::test_mesh_repair[cpu-False-False]
[gw22] [ 42%] PASSED tests/test_pbd.py::test_get_mass[2]
tests/test_render.py::test_point_cloud[RASTERIZER]
[gw25] [ 42%] PASSED tests/test_render.py::test_interactive_viewer_key_press[RASTERIZER]
tests/test_rigid_physics.py::test_rope_ball[cpu-False-Euler-Newton-xml/rope_ball.xml]
[gw35] [ 42%] PASSED tests/test_ipc.py::test_apply_forces_base_link[1-2]
tests/test_quadrants.py::test_to_torch[('field', 'matrix')-(7, 11)-()]
[gw55] [ 42%] PASSED tests/test_rigid_physics.py::test_walker[cpu-False-implicitfast-CG-xml/walker.xml]
tests/test_rigid_physics.py::test_box_box_dynamics[cpu-Euler-Newton-box_box]
[gw26] [ 42%] PASSED tests/test_render.py::test_draw_debug[RASTERIZER]
tests/test_rigid_physics.py::test_rope_ball[cpu-False-implicitfast-Newton-xml/rope_hinge.xml]
[gw45] [ 42%] PASSED tests/test_recorders.py::test_video_writer
tests/test_rigid_physics.py::test_box_plane_dynamics[cpu-Euler-Newton-box_plan]
[gw59] [ 42%] PASSED tests/test_rigid_physics.py::test_frictionloss[cpu-implicitfast-Newton-hinge_slide]
tests/test_rigid_physics.py::test_pendulum_links_acc[Euler-CG-pendulum]
[gw47] [ 43%] PASSED tests/test_rigid_physics.py::test_simple_kinematic_chain[cpu-True-implicitfast-CG-chain_capsule_hinge_mesh]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-implicitfast-Newton-xml/tet_ball.xml]
[gw18] [ 43%] PASSED tests/test_pbd.py::test_maxvolume
tests/test_render.py::test_segmentation_map[particle-geom-BATCHRENDER_RASTERIZER]
[gw31] [ 43%] PASSED tests/test_render.py::test_render_planes[BATCHRENDER_RAYTRACER]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-implicitfast-CG-xml/tet_tet.xml]
[gw27] [ 43%] PASSED tests/test_render.py::test_draw_debug_frustum_and_trajectory[2-RASTERIZER]
tests/test_rigid_physics.py::test_rope_ball[cpu-False-Euler-CG-xml/rope_hinge.xml]
[gw54] [ 43%] PASSED tests/test_mesh.py::test_mesh_yup
tests/test_render.py::test_render_api_advanced[4-BATCHRENDER_RAYTRACER]
[gw58] [ 43%] PASSED tests/test_mesh.py::test_morph_scale[meshes/camera/camera.glb-(0.5, 2.0, 8.0)]
tests/test_render.py::test_deterministic[BATCHRENDER_RAYTRACER]
[gw53] [ 44%] PASSED tests/test_rigid_physics.py::test_convexify[cpu-True-(90, 0, 90)]
tests/test_fem.py::test_implicit_falling_sphere_box[genesis.options.solvers.SAPCouplerOptions-linear_corotated-64]
[gw7] [ 44%] PASSED tests/test_rigid_physics.py::test_dynamic_weld
tests/test_rigid_physics.py::test_robot_scale_and_dofs_armature[urdf/go2/urdf/go2.urdf-cpu]
[gw30] [ 44%] PASSED tests/test_render.py::test_draw_debug_frustum_and_trajectory[0-RASTERIZER]
tests/test_rigid_physics.py::test_rope_ball[cpu-False-Euler-CG-xml/rope_ball.xml]
[gw13] [ 44%] PASSED tests/test_ipc.py::test_cloth_corner_drag[2]
tests/test_rigid_physics.py::test_noslip_iterations[gpu-False-0.5-0.04]
[gw61] [ 44%] PASSED tests/test_render.py::test_render_api[BATCHRENDER_RASTERIZER]
tests/test_rigid_physics.py::test_simple_kinematic_chain[cpu-True-implicitfast-Newton-chain_capsule_hinge_mesh]
[gw52] [ 44%] PASSED tests/test_render.py::test_render_api_advanced[0-BATCHRENDER_RASTERIZER]
tests/test_rigid_physics.py::test_simple_kinematic_chain[cpu-False-Euler-Newton-chain_capsule_hinge_mesh]
[gw35] [ 44%] PASSED tests/test_quadrants.py::test_to_torch[('field', 'matrix')-(7, 11)-()]
tests/test_render.py::test_render_planes[BATCHRENDER_RASTERIZER]
[gw43] [ 45%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-Euler-Newton-xml/tet_tet.xml]
tests/test_rigid_physics.py::test_num_contact_overflow[cpu]
[gw12] [ 45%] PASSED tests/test_misc.py::test_scene_destroy_idempotent
tests/test_render.py::test_segmentation_map[particle-entity-BATCHRENDER_RASTERIZER]
[gw17] [ 45%] PASSED tests/test_render.py::test_segmentation_map[particle-link-BATCHRENDER_RAYTRACER]
tests/test_rigid_physics.py::test_rope_ball[cpu-True-implicitfast-Newton-xml/rope_ball.xml]
[gw32] [ 45%] PASSED tests/test_rigid_physics.py::test_mjcf_parsing_merge_fixed_links[box_freejoint_offset]
tests/test_sensor_camera.py::test_destroy_idempotent_with_camera
[gw6] [ 45%] PASSED tests/test_rigid_physics.py::test_robot_scale_and_dofs_armature[xml/franka_emika_panda/panda.xml-gpu]
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-0]
[gw49] [ 45%] PASSED tests/test_rigid_physics.py::test_walker[cpu-False-Euler-CG-xml/walker.xml]
tests/test_rigid_physics.py::test_box_box_dynamics[gpu-implicitfast-CG-box_box]
[gw39] [ 46%] PASSED tests/test_rigid_physics.py::test_mesh_repair[cpu-True-True]
tests/test_rigid_physics.py::test_color_overwrite[True]
[gw20] [ 46%] PASSED tests/test_pbd.py::test_cloth_attach_rigid_link
tests/test_render.py::test_point_cloud[BATCHRENDER_RASTERIZER]
[gw0] [ 46%] PASSED tests/test_render.py::test_madrona_fisheye_camera[BATCHRENDER_RASTERIZER]
tests/test_rigid_physics.py::test_equality_joint[cpu-implicitfast-CG-mimic_hinges]
[gw37] [ 46%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-implicitfast-Newton-xml/tet_ball.xml]
tests/test_rigid_physics.py::test_nonconvex_collision[cpu]
[gw24] [ 46%] PASSED tests/test_rigid_physics.py::test_rope_ball[cpu-False-implicitfast-Newton-xml/rope_ball.xml]
tests/test_rigid_physics.py::test_inverse_kinematics_multilink_local_points[cpu]
[gw33] [ 46%] PASSED tests/test_rigid_physics.py::test_set_dofs_frictionloss_physics[Euler-CG-hinge_slide]
tests/test_rigid_physics.py::test_urdf_parsing_merge_fixed_links[True-dual_arms_primitives.urdf]
[gw44] [ 46%] PASSED tests/test_rigid_physics.py::test_general_actuator[cpu-Euler-CG-general_actuator]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-implicitfast-Newton-xml/tet_tet.xml]
[gw19] [ 47%] PASSED tests/test_pbd.py::test_cloth_attach_fixed_point[gpu-genesis.engine.materials.PBD.cloth.Cloth-0]
tests/test_render.py::test_segmentation_map[particle-geom-BATCHRENDER_RAYTRACER]
[gw5] [ 47%] PASSED tests/test_rigid_physics.py::test_robot_scale_and_dofs_armature[xml/franka_emika_panda/panda.xml-cpu]
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-8]
[gw60] [ 47%] PASSED tests/test_fem.py::test_implicit_sap_coupler_hard_constraint_and_collision[64]
tests/test_mesh.py::test_urdf_yup[yup_zup_coverage/cannon_z.glb-True]
[gw2] [ 47%] PASSED tests/test_rigid_physics.py::test_equality_joint[cpu-Euler-CG-mimic_hinges]
tests/test_rigid_physics.py::test_box_box_dynamics[gpu-Euler-Newton-box_box]
[gw41] [ 47%] PASSED tests/test_rigid_physics.py::test_drone_propellers_force_substep_consistency
tests/test_sensors.py::test_add_and_read_all_registered_sensors
[gw29] [ 47%] PASSED tests/test_render.py::test_render_planes[RASTERIZER]
tests/test_rigid_physics.py::test_urdf_rope[cpu-True-implicitfast-CG-linear_deformable.urdf]
[gw32] [ 48%] PASSED tests/test_sensor_camera.py::test_destroy_idempotent_with_camera
tests/test_utils.py::test_warn_once_logs_different_messages
[gw18] [ 48%] PASSED tests/test_render.py::test_segmentation_map[particle-geom-BATCHRENDER_RASTERIZER]
tests/test_rigid_physics.py::test_rope_ball[cpu-True-Euler-CG-xml/rope_ball.xml]
[gw46] [ 48%] PASSED tests/test_rigid_physics.py::test_box_plane_dynamics[cpu-Euler-CG-box_plan]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-implicitfast-CG-xml/tet_ball.xml]
[gw59] [ 48%] PASSED tests/test_rigid_physics.py::test_pendulum_links_acc[Euler-CG-pendulum]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-5]
[gw32] [ 48%] PASSED tests/test_utils.py::test_warn_once_logs_different_messages
tests/test_rigid_physics.py::test_set_root_pose[False-False]
[gw39] [ 48%] PASSED tests/test_rigid_physics.py::test_color_overwrite[True]
tests/test_sensor_camera.py::test_raytracer_destroy
[gw38] [ 48%] PASSED tests/test_rigid_physics.py::test_mesh_repair[cpu-False-False]
tests/test_rigid_physics.py::test_default_armature_freeflyer[freeflyer_mjcf]
[gw62] [ 49%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-7]
tests/test_rigid_physics.py::test_extended_broadcasting
[gw57] [ 49%] PASSED tests/test_grad.py::test_differentiable_push[cpu]
tests/test_mesh.py::test_urdf_yup[yup_zup_coverage/cannon_y_-z.stl-False]
[gw60] [ 49%] PASSED tests/test_mesh.py::test_urdf_yup[yup_zup_coverage/cannon_z.glb-True]
tests/test_render.py::test_madrona_lights[BATCHRENDER_RASTERIZER]
[gw63] [ 49%] PASSED tests/test_rigid_physics.py::test_frictionloss[cpu-implicitfast-CG-hinge_slide]
tests/test_rigid_physics.py::test_link_velocity[Euler-CG-two_aligned_hinges]
[gw51] [ 49%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-implicitfast-CG-xml/tet_tet.xml]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-1]
[gw55] [ 49%] PASSED tests/test_rigid_physics.py::test_box_box_dynamics[cpu-Euler-Newton-box_box]
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-1]
[gw3] [ 50%] PASSED tests/test_hybrid.py::test_rigid_mpm_muscle
tests/test_mesh.py::test_glb_parse_material[glb/chopper.glb]
[gw9] [ 50%] PASSED tests/test_rigid_physics.py::test_reset
tests/test_rigid_physics.py::test_robot_scaling_primitive_collision
[gw56] [ 50%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-Euler-CG-xml/tet_ball.xml]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-8]
[gw1] [ 50%] PASSED tests/test_render.py::test_madrona_fisheye_camera[BATCHRENDER_RAYTRACER]
tests/test_rigid_physics.py::test_equality_joint[cpu-implicitfast-Newton-mimic_hinges]
[gw3] [ 50%] PASSED tests/test_mesh.py::test_glb_parse_material[glb/chopper.glb]
tests/test_render.py::test_segmentation_map[visual-entity-BATCHRENDER_RASTERIZER]
[gw53] [ 50%] PASSED tests/test_fem.py::test_implicit_falling_sphere_box[genesis.options.solvers.SAPCouplerOptions-linear_corotated-64]
tests/test_mesh.py::test_morph_scale[meshes/camera/camera.glb-(2.0, 2.0, 2.0)]
[gw45] [ 50%] PASSED tests/test_rigid_physics.py::test_box_plane_dynamics[cpu-Euler-Newton-box_plan]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-implicitfast-CG-xml/tet_capsule.xml]
[gw57] [ 51%] PASSED tests/test_mesh.py::test_urdf_yup[yup_zup_coverage/cannon_y_-z.stl-False]
tests/test_render.py::test_madrona_lights[BATCHRENDER_RAYTRACER]
[gw25] [ 51%] PASSED tests/test_rigid_physics.py::test_rope_ball[cpu-False-Euler-Newton-xml/rope_ball.xml]
tests/test_rigid_physics.py::test_contact_forces[gpu-32]
[gw10] [ 51%] PASSED tests/test_rigid_physics.py::test_filter_neutral_self_collisions
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-4]
[gw6] [ 51%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-0]
tests/test_rigid_physics.py::test_heterogeneous_fewer_envs_than_variants
[gw15] [ 51%] PASSED tests/test_rigid_physics.py::test_rope_ball[cpu-True-implicitfast-CG-xml/rope_hinge.xml]
tests/test_rigid_physics.py::test_set_root_pose[True-False]
[gw7] [ 51%] PASSED tests/test_rigid_physics.py::test_robot_scale_and_dofs_armature[urdf/go2/urdf/go2.urdf-cpu]
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-1]
[gw26] [ 51%] PASSED tests/test_rigid_physics.py::test_rope_ball[cpu-False-implicitfast-Newton-xml/rope_hinge.xml]
tests/test_rigid_physics.py::test_inverse_kinematics_multilink_local_points[gpu]
[gw48] [ 52%] PASSED tests/test_render.py::test_render_api_advanced[4-BATCHRENDER_RASTERIZER]
tests/test_rigid_physics.py::test_frictionloss[cpu-Euler-CG-hinge_slide]
[gw8] [ 52%] PASSED tests/test_rigid_physics.py::test_dynamic_weld_scene_reset
tests/test_rigid_physics.py::test_robot_scale_and_dofs_armature[urdf/go2/urdf/go2.urdf-gpu]
[gw34] [ 52%] PASSED tests/test_rigid_physics.py::test_frictionloss_advanced
tests/test_rigid_physics.py::test_urdf_capsule
[gw27] [ 52%] PASSED tests/test_rigid_physics.py::test_rope_ball[cpu-False-Euler-CG-xml/rope_hinge.xml]
tests/test_rigid_physics.py::test_all_fixed
[gw22] [ 52%] PASSED tests/test_render.py::test_point_cloud[RASTERIZER]
tests/test_rigid_physics.py::test_rope_ball[cpu-False-implicitfast-CG-xml/rope_ball.xml]
[gw16] [ 52%] PASSED tests/test_integration.py::test_hanging_rigid_cable[gpu]
tests/test_misc.py::test_urdf_mjcf_names_from_file
[gw35] [ 53%] PASSED tests/test_render.py::test_render_planes[BATCHRENDER_RASTERIZER]
tests/test_rigid_physics.py::test_urdf_rope[cpu-False-implicitfast-CG-linear_deformable.urdf]
[gw12] [ 53%] PASSED tests/test_render.py::test_segmentation_map[particle-entity-BATCHRENDER_RASTERIZER]
tests/test_rigid_physics.py::test_one_ball_joint[cpu-Euler-CG-xml/one_ball_joint.xml]
[gw19] [ 53%] PASSED tests/test_render.py::test_segmentation_map[particle-geom-BATCHRENDER_RAYTRACER]
tests/test_rigid_physics.py::test_rope_ball[cpu-True-Euler-CG-xml/rope_hinge.xml]
[gw20] [ 53%] PASSED tests/test_render.py::test_point_cloud[BATCHRENDER_RASTERIZER]
tests/test_rigid_physics.py::test_rope_ball[cpu-False-implicitfast-CG-xml/rope_hinge.xml]
[gw39] [ 53%] PASSED tests/test_sensor_camera.py::test_raytracer_destroy
tests/test_utils.py::test_geom_numpy_vs_torch_consistency[()]
[gw4] [ 53%] PASSED tests/test_rigid_physics.py::test_robot_kinematics[gpu-Euler-CG-xml/franka_emika_panda/panda.xml]
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-7]
[gw37] [ 53%] PASSED tests/test_rigid_physics.py::test_nonconvex_collision[cpu]
tests/test_rigid_physics.py::test_color_overwrite[False]
[gw49] [ 54%] PASSED tests/test_rigid_physics.py::test_box_box_dynamics[gpu-implicitfast-CG-box_box]
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-2]
[gw63] [ 54%] PASSED tests/test_rigid_physics.py::test_link_velocity[Euler-CG-two_aligned_hinges]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-4]
[gw40] [ 54%] PASSED tests/test_render.py::test_rasterizer_env_separate[True-RASTERIZER]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-Euler-CG-xml/tet_ball.xml]
[gw2] [ 54%] PASSED tests/test_rigid_physics.py::test_box_box_dynamics[gpu-Euler-Newton-box_box]
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-5]
[gw30] [ 54%] PASSED tests/test_rigid_physics.py::test_rope_ball[cpu-False-Euler-CG-xml/rope_ball.xml]
tests/test_rigid_physics.py::test_multi_robot_inverse_kinematics
[gw47] [ 54%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-implicitfast-Newton-xml/tet_ball.xml]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-5]
[gw52] [ 55%] PASSED tests/test_rigid_physics.py::test_simple_kinematic_chain[cpu-False-Euler-Newton-chain_capsule_hinge_mesh]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-Euler-Newton-xml/tet_capsule.xml]
[gw16] [ 55%] PASSED tests/test_misc.py::test_urdf_mjcf_names_from_file
tests/test_render.py::test_segmentation_map[particle-geom-RASTERIZER]
[gw31] [ 55%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-implicitfast-CG-xml/tet_tet.xml]
tests/test_rigid_physics.py::test_set_dofs_frictionloss_physics[implicitfast-Newton-hinge_slide]
[gw36] [ 55%] PASSED tests/test_render.py::test_rasterizer_env_separate[False-RASTERIZER]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-Euler-CG-xml/tet_tet.xml]
[gw53] [ 55%] PASSED tests/test_mesh.py::test_morph_scale[meshes/camera/camera.glb-(2.0, 2.0, 2.0)]
tests/test_render.py::test_render_api_advanced[0-RASTERIZER]
[gw61] [ 55%] PASSED tests/test_rigid_physics.py::test_simple_kinematic_chain[cpu-True-implicitfast-Newton-chain_capsule_hinge_mesh]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-implicitfast-Newton-xml/tet_capsule.xml]
[gw55] [ 55%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-1]
tests/test_rigid_physics.py::test_reset_control[xml/franka_emika_panda/panda.xml-gpu]
[gw33] [ 56%] PASSED tests/test_rigid_physics.py::test_urdf_parsing_merge_fixed_links[True-dual_arms_primitives.urdf]
tests/test_sensor_camera.py::test_destroy_unbuilt_scene_with_camera
[gw51] [ 56%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-1]
tests/test_rigid_physics.py::test_drone_advanced[cpu]
[gw43] [ 56%] PASSED tests/test_rigid_physics.py::test_num_contact_overflow[cpu]
tests/test_rigid_physics.py::test_default_armature_freeflyer[freeflyer_urdf]
[gw0] [ 56%] PASSED tests/test_rigid_physics.py::test_equality_joint[cpu-implicitfast-CG-mimic_hinges]
tests/test_rigid_physics.py::test_box_box_dynamics[gpu-implicitfast-Newton-box_box]
[gw17] [ 56%] PASSED tests/test_rigid_physics.py::test_rope_ball[cpu-True-implicitfast-Newton-xml/rope_ball.xml]
tests/test_rigid_physics.py::test_set_root_pose[True-True]
[gw44] [ 56%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-implicitfast-Newton-xml/tet_tet.xml]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-4]
[gw39] [ 57%] PASSED tests/test_utils.py::test_geom_numpy_vs_torch_consistency[()]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-0]
[gw14] [ 57%] PASSED tests/test_render.py::test_segmentation_map[particle-link-RASTERIZER]
tests/test_rigid_physics.py::test_rope_ball[cpu-True-implicitfast-CG-xml/rope_ball.xml]
[gw37] [ 57%] PASSED tests/test_rigid_physics.py::test_color_overwrite[False]
tests/test_sensor_camera.py::test_batch_renderer_destroy[cuda]
[gw5] [ 57%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-8]
tests/test_rigid_physics.py::test_heterogeneous_invalid_material_raises
[gw11] [ 57%] PASSED tests/test_rigid_physics.py::test_info_batching
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-5]
[gw33] [ 57%] PASSED tests/test_sensor_camera.py::test_destroy_unbuilt_scene_with_camera
tests/test_utils.py::test_warn_once_logs_once
[gw7] [ 57%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-1]
tests/test_rigid_physics.py::test_heterogeneous_mass_setters
[gw50] [ 58%] PASSED tests/test_kinematic.py::test_track_rigid
tests/test_render.py::test_deterministic[BATCHRENDER_RASTERIZER]
[gw3] [ 58%] PASSED tests/test_render.py::test_segmentation_map[visual-entity-BATCHRENDER_RASTERIZER]
tests/test_rigid_physics.py::test_equality_joint[cpu-Euler-Newton-mimic_hinges]
[gw24] [ 58%] PASSED tests/test_rigid_physics.py::test_inverse_kinematics_multilink_local_points[cpu]
tests/test_rigid_physics.py::test_jacobian[Euler-CG-pendulum]
[gw33] [ 58%] PASSED tests/test_utils.py::test_warn_once_logs_once
tests/test_rigid_physics.py::test_contype_conaffinity
[gw27] [ 58%] PASSED tests/test_rigid_physics.py::test_all_fixed
tests/test_rigid_physics.py::test_urdf_parsing_undefined_inertia[undefined_inertia]
[gw56] [ 58%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-8]
tests/test_rigid_physics.py::test_geom_pos_quat[0]
[gw46] [ 59%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-implicitfast-CG-xml/tet_ball.xml]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-2]
[gw18] [ 59%] PASSED tests/test_rigid_physics.py::test_rope_ball[cpu-True-Euler-CG-xml/rope_ball.xml]
tests/test_rigid_physics.py::test_set_sol_params[0-False]
[gw59] [ 59%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-5]
tests/test_rigid_physics.py::test_ellipsoid[ellipsoid]
[gw5] [ 59%] PASSED tests/test_rigid_physics.py::test_heterogeneous_invalid_material_raises
tests/test_sph.py::test_sph_simulation_stability_regular_sampler[DFSPH]
[gw49] [ 59%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-2]
tests/test_rigid_physics.py::test_joint_get_anchor_pos_and_axis[0]
[gw28] [ 59%] PASSED tests/test_rigid_physics.py::test_apply_external_forces[double_ball_pendulum]
tests/test_rigid_physics.py::test_urdf_parsing_merge_fixed_links[False-dual_arms_glb/dual_arms_glb.urdf]
[gw54] [ 59%] PASSED tests/test_render.py::test_render_api_advanced[4-BATCHRENDER_RAYTRACER]
tests/test_rigid_physics.py::test_frictionloss[cpu-Euler-Newton-hinge_slide]
[gw43] [ 60%] PASSED tests/test_rigid_physics.py::test_default_armature_freeflyer[freeflyer_urdf]
tests/test_sensor_camera.py::test_camera_lookat_entity
[gw55] [ 60%] PASSED tests/test_rigid_physics.py::test_reset_control[xml/franka_emika_panda/panda.xml-gpu]
tests/test_sensors.py::test_proximity_sensor_box_sphere[0]
[gw12] [ 60%] PASSED tests/test_rigid_physics.py::test_one_ball_joint[cpu-Euler-CG-xml/one_ball_joint.xml]
tests/test_rigid_physics.py::test_position_control[cpu]
[gw29] [ 60%] PASSED tests/test_rigid_physics.py::test_urdf_rope[cpu-True-implicitfast-CG-linear_deformable.urdf]
tests/test_rigid_physics.py::test_mass_mat
[gw42] [ 60%] PASSED tests/test_rigid_physics.py::test_num_contact_overflow[gpu]
tests/test_rigid_physics.py::test_gravity
[gw31] [ 60%] PASSED tests/test_rigid_physics.py::test_set_dofs_frictionloss_physics[implicitfast-Newton-hinge_slide]
tests/test_rigid_physics.py::test_urdf_parsing_merge_fixed_links[True-dual_arms_glb/dual_arms_glb.urdf]
[gw1] [ 61%] PASSED tests/test_rigid_physics.py::test_equality_joint[cpu-implicitfast-Newton-mimic_hinges]
tests/test_rigid_physics.py::test_box_box_dynamics[gpu-Euler-CG-box_box]
[gw22] [ 61%] PASSED tests/test_rigid_physics.py::test_rope_ball[cpu-False-implicitfast-CG-xml/rope_ball.xml]
tests/test_rigid_physics.py::test_inverse_kinematics_local_point[0]
[gw37] [ 61%] PASSED tests/test_sensor_camera.py::test_batch_renderer_destroy[cuda]
tests/test_utils.py::test_geom_numpy_vs_torch_consistency[(10, 40, 25)]
[gw7] [ 61%] PASSED tests/test_rigid_physics.py::test_heterogeneous_mass_setters
tests/test_sph.py::test_sph_density_consistency_different_particle_sizes[0.01-DFSPH]
[gw24] [ 61%] PASSED tests/test_rigid_physics.py::test_jacobian[Euler-CG-pendulum]
tests/test_rigid_physics_analytical_vs_gjk.py::test_split_vs_monolithic_narrowphase[gpu]
[gw45] [ 61%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-implicitfast-CG-xml/tet_capsule.xml]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-3]
[gw48] [ 61%] PASSED tests/test_rigid_physics.py::test_frictionloss[cpu-Euler-CG-hinge_slide]
tests/test_rigid_physics.py::test_double_pendulum_links_acc[Euler-CG-double_pendulum]
[gw47] [ 62%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-5]
tests/test_rigid_physics.py::test_getter_vs_state_post_step_consistency[True]
[gw20] [ 62%] PASSED tests/test_rigid_physics.py::test_rope_ball[cpu-False-implicitfast-CG-xml/rope_hinge.xml]
tests/test_rigid_physics.py::test_inverse_kinematics_local_point[2]
[gw0] [ 62%] PASSED tests/test_rigid_physics.py::test_box_box_dynamics[gpu-implicitfast-Newton-box_box]
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-3]
[gw39] [ 62%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-0]
tests/test_rigid_physics.py::test_geom_pos_quat[2]
[gw23] [ 62%] PASSED tests/test_render.py::test_camera_follow_entity[RASTERIZER-2]
tests/test_rigid_physics.py::test_rope_ball[cpu-True-Euler-Newton-xml/rope_hinge.xml]
[gw56] [ 62%] PASSED tests/test_rigid_physics.py::test_geom_pos_quat[0]
tests/test_sensors.py::test_lidar_cache_offset_parallel_env
[gw8] [ 63%] PASSED tests/test_rigid_physics.py::test_robot_scale_and_dofs_armature[urdf/go2/urdf/go2.urdf-gpu]
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-2]
[gw58] [ 63%] PASSED tests/test_render.py::test_deterministic[BATCHRENDER_RAYTRACER]
tests/test_rigid_physics.py::test_simple_kinematic_chain[cpu-False-implicitfast-Newton-chain_capsule_hinge_mesh]
[gw19] [ 63%] PASSED tests/test_rigid_physics.py::test_rope_ball[cpu-True-Euler-CG-xml/rope_hinge.xml]
tests/test_rigid_physics.py::test_set_sol_params[3-True]
[gw44] [ 63%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-4]
tests/test_rigid_physics.py::test_deprecated_properties
[gw2] [ 63%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-5]
tests/test_rigid_physics.py::test_merge_entities[False-True]
[gw4] [ 63%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-7]
tests/test_rigid_physics.py::test_merge_entities[True-True]
[gw46] [ 63%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-2]
tests/test_rigid_physics.py::test_get_constraints_api
[gw35] [ 64%] PASSED tests/test_rigid_physics.py::test_urdf_rope[cpu-False-implicitfast-CG-linear_deformable.urdf]
tests/test_rigid_physics.py::test_set_dofs_frictionloss_physics[implicitfast-CG-hinge_slide]
[gw63] [ 64%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-4]
tests/test_rigid_physics.py::test_axis_aligned_bounding_boxes[3]
[gw38] [ 64%] PASSED tests/test_rigid_physics.py::test_default_armature_freeflyer[freeflyer_mjcf]
tests/test_sensor_camera.py::test_raytracer[1]
[gw5] [ 64%] PASSED tests/test_sph.py::test_sph_simulation_stability_regular_sampler[DFSPH]
tests/test_rigid_physics.py::test_mesh_primitive_COM
[gw42] [ 64%] PASSED tests/test_rigid_physics.py::test_gravity
tests/test_sensors.py::test_lazy_sensor_discovery
[gw41] [ 64%] PASSED tests/test_sensors.py::test_add_and_read_all_registered_sensors
tests/test_utils.py::test_geom_tensor_identity[()]
[gw52] [ 65%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-Euler-Newton-xml/tet_capsule.xml]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-3]
[gw21] [ 65%] PASSED tests/test_render.py::test_camera_follow_entity[RASTERIZER-0]
tests/test_rigid_physics.py::test_rope_ball[cpu-True-Euler-Newton-xml/rope_ball.xml]
[gw61] [ 65%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-implicitfast-Newton-xml/tet_capsule.xml]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-6]
[gw47] [ 65%] PASSED tests/test_rigid_physics.py::test_getter_vs_state_post_step_consistency[True]
tests/test_sensors.py::test_raycaster_hits[0]
[gw32] [ 65%] PASSED tests/test_rigid_physics.py::test_set_root_pose[False-False]
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-7]
[gw9] [ 65%] PASSED tests/test_rigid_physics.py::test_robot_scaling_primitive_collision
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-3]
[gw40] [ 65%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-Euler-CG-xml/tet_ball.xml]
tests/test_rigid_physics.py::test_mesh_repair[cpu-False-True]
[gw36] [ 66%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-True-True-Euler-CG-xml/tet_tet.xml]
tests/test_rigid_physics.py::test_mesh_repair[cpu-True-False]
[gw60] [ 66%] PASSED tests/test_render.py::test_madrona_lights[BATCHRENDER_RASTERIZER]
tests/test_rigid_physics.py::test_walker[cpu-True-implicitfast-CG-xml/walker.xml]
[gw41] [ 66%] PASSED tests/test_utils.py::test_geom_tensor_identity[()]
tests/test_rigid_physics.py::test_terrain_generation[True-cpu]
[gw3] [ 66%] PASSED tests/test_rigid_physics.py::test_equality_joint[cpu-Euler-Newton-mimic_hinges]
tests/test_rigid_physics.py::test_robot_kinematics[cpu-Euler-CG-xml/franka_emika_panda/panda.xml]
[gw48] [ 66%] PASSED tests/test_rigid_physics.py::test_double_pendulum_links_acc[Euler-CG-double_pendulum]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-6]
[gw14] [ 66%] PASSED tests/test_rigid_physics.py::test_rope_ball[cpu-True-implicitfast-CG-xml/rope_ball.xml]
tests/test_rigid_physics.py::test_set_root_pose[False-True]
[gw39] [ 67%] PASSED tests/test_rigid_physics.py::test_geom_pos_quat[2]
tests/test_sensors.py::test_temperature_grid_sensor_contact_and_reset[0]
[gw51] [ 67%] PASSED tests/test_rigid_physics.py::test_drone_advanced[cpu]
tests/test_sensors.py::test_imu_sensor[0]
[gw10] [ 67%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-4]
tests/test_rigid_physics.py::test_pick_heterogenous_objects[gpu]
[gw44] [ 67%] PASSED tests/test_rigid_physics.py::test_deprecated_properties
tests/test_sensors.py::test_contact_sensors_gravity_force[2]
[gw7] [ 67%] PASSED tests/test_sph.py::test_sph_density_consistency_different_particle_sizes[0.01-DFSPH]
tests/test_rigid_physics.py::test_reset_control[xml/franka_emika_panda/panda.xml-cpu]
[gw13] [ 67%] PASSED tests/test_rigid_physics.py::test_noslip_iterations[gpu-False-0.5-0.04]
tests/test_hybrid.py::test_sap_fem_vs_robot[64]
[gw1] [ 67%] PASSED tests/test_rigid_physics.py::test_box_box_dynamics[gpu-Euler-CG-box_box]
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-4]
[gw6] [ 68%] PASSED tests/test_rigid_physics.py::test_heterogeneous_fewer_envs_than_variants
tests/test_sph.py::test_sph_density_consistency_different_particle_sizes[0.01-WCSPH]
[gw54] [ 68%] PASSED tests/test_rigid_physics.py::test_frictionloss[cpu-Euler-Newton-hinge_slide]
tests/test_rigid_physics.py::test_box_box_dynamics[cpu-implicitfast-CG-box_box]
[gw8] [ 68%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-2]
tests/test_rigid_physics.py::test_non_batched_mass_setters
[gw16] [ 68%] PASSED tests/test_render.py::test_segmentation_map[particle-geom-RASTERIZER]
tests/test_rigid_physics.py::test_rope_ball[cpu-True-implicitfast-Newton-xml/rope_hinge.xml]
[gw57] [ 68%] PASSED tests/test_render.py::test_madrona_lights[BATCHRENDER_RAYTRACER]
tests/test_rigid_physics.py::test_walker[cpu-True-Euler-CG-xml/walker.xml]
[gw56] [ 68%] PASSED tests/test_sensors.py::test_lidar_cache_offset_parallel_env
tests/test_utils.py::test_polar_pure_rotation[True]
[gw15] [ 69%] PASSED tests/test_rigid_physics.py::test_set_root_pose[True-False]
tests/test_rigid_physics.py::test_collision_plane_convex[cpu]
[gw34] [ 69%] PASSED tests/test_rigid_physics.py::test_urdf_capsule
tests/test_sensor_camera.py::test_rasterizer_destroy
[gw62] [ 69%] PASSED tests/test_rigid_physics.py::test_extended_broadcasting
tests/test_sensors.py::test_lidar_bvh_parallel_env
[gw35] [ 69%] PASSED tests/test_rigid_physics.py::test_set_dofs_frictionloss_physics[implicitfast-CG-hinge_slide]
tests/test_rigid_physics.py::test_urdf_parsing_merge_fixed_links[True-chain.urdf]
[gw53] [ 69%] PASSED tests/test_render.py::test_render_api_advanced[0-RASTERIZER]
tests/test_rigid_physics.py::test_simple_kinematic_chain[cpu-False-Euler-CG-chain_capsule_hinge_mesh]
[gw45] [ 69%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-3]
tests/test_rigid_physics.py::test_cholesky_tiling_large_shared_memory[cuda]
[gw56] [ 69%] PASSED tests/test_utils.py::test_polar_pure_rotation[True]
tests/test_rigid_physics_analytical_vs_gjk.py::test_sphere_capsule_vs_gjk[cpu]
[gw31] [ 70%] PASSED tests/test_rigid_physics.py::test_urdf_parsing_merge_fixed_links[True-dual_arms_glb/dual_arms_glb.urdf]
tests/test_sensor_camera.py::test_batch_renderer[2-cuda]
[gw12] [ 70%] PASSED tests/test_rigid_physics.py::test_position_control[cpu]
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-6]
[gw42] [ 70%] PASSED tests/test_sensors.py::test_lazy_sensor_discovery
tests/test_utils.py::test_geom_tensor_identity[(10, 40, 25)]
[gw34] [ 70%] PASSED tests/test_sensor_camera.py::test_rasterizer_destroy
tests/test_utils.py::test_warn_once_with_empty_message
[gw58] [ 70%] PASSED tests/test_rigid_physics.py::test_simple_kinematic_chain[cpu-False-implicitfast-Newton-chain_capsule_hinge_mesh]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-Euler-Newton-xml/tet_tet.xml]
[gw34] [ 70%] PASSED tests/test_utils.py::test_warn_once_with_empty_message
tests/test_rigid_physics.py::test_merge_entities[True-False]
[gw25] [ 71%] PASSED tests/test_rigid_physics.py::test_contact_forces[gpu-32]
tests/test_rigid_physics.py::test_urdf_parsing_merge_fixed_links[False-chain.urdf]
[gw36] [ 71%] PASSED tests/test_rigid_physics.py::test_mesh_repair[cpu-True-False]
tests/test_rigid_physics.py::test_urdf_mimic
[gw51] [ 71%] PASSED tests/test_sensors.py::test_imu_sensor[0]
tests/test_utils.py::test_fps_tracker
[gw8] [ 71%] PASSED tests/test_rigid_physics.py::test_non_batched_mass_setters
tests/test_sph.py::test_sph_density_consistency_different_particle_sizes[0.02-WCSPH]
[gw24] [ 71%] PASSED tests/test_rigid_physics_analytical_vs_gjk.py::test_split_vs_monolithic_narrowphase[gpu]
tests/test_usd.py::test_pure_rigid_body_fixed[True]
[gw0] [ 71%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-3]
tests/test_rigid_physics.py::test_joint_get_anchor_pos_and_axis[2]
[gw17] [ 71%] PASSED tests/test_rigid_physics.py::test_set_root_pose[True-True]
tests/test_rigid_physics.py::test_nan_reset[Euler-CG-collision_edge_cases-3]
[gw7] [ 72%] PASSED tests/test_rigid_physics.py::test_reset_control[xml/franka_emika_panda/panda.xml-cpu]
tests/test_sensors.py::test_elastomer_displacement_sensor_box_sphere[2]
[gw51] [ 72%] PASSED tests/test_utils.py::test_fps_tracker
tests/test_sensors.py::test_elastomer_displacement_sensor_sphere_ground[2]
[gw27] [ 72%] PASSED tests/test_rigid_physics.py::test_urdf_parsing_undefined_inertia[undefined_inertia]
tests/test_sensor_camera.py::test_rasterizer_non_batched[0]
[gw61] [ 72%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-True-Euler-CG-collision_edge_cases-6]
tests/test_rigid_physics.py::test_getter_vs_state_post_step_consistency[False]
[gw11] [ 72%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-5]
tests/test_rigid_physics.py::test_heterogeneous_robots
[gw6] [ 72%] PASSED tests/test_sph.py::test_sph_density_consistency_different_particle_sizes[0.01-WCSPH]
tests/test_rigid_physics.py::test_urdf_align
[gw23] [ 73%] PASSED tests/test_rigid_physics.py::test_rope_ball[cpu-True-Euler-Newton-xml/rope_hinge.xml]
tests/test_rigid_physics.py::test_inverse_kinematics_multilink[gpu]
[gw35] [ 73%] PASSED tests/test_rigid_physics.py::test_urdf_parsing_merge_fixed_links[True-chain.urdf]
tests/test_sensor_camera.py::test_batch_renderer[0-cuda]
[gw41] [ 73%] PASSED tests/test_rigid_physics.py::test_terrain_generation[True-cpu]
tests/test_rigid_physics_analytical_vs_gjk.py::test_capsule_capsule_vs_gjk[gpu]
[gw50] [ 73%] PASSED tests/test_render.py::test_deterministic[BATCHRENDER_RASTERIZER]
tests/test_rigid_physics.py::test_simple_kinematic_chain[cpu-False-implicitfast-CG-chain_capsule_hinge_mesh]
[gw59] [ 73%] PASSED tests/test_rigid_physics.py::test_ellipsoid[ellipsoid]
tests/test_sensors.py::test_kinematic_contact_probe_box_support[2]
[gw54] [ 73%] PASSED tests/test_rigid_physics.py::test_box_box_dynamics[cpu-implicitfast-CG-box_box]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-7]
[gw3] [ 73%] PASSED tests/test_rigid_physics.py::test_robot_kinematics[cpu-Euler-CG-xml/franka_emika_panda/panda.xml]
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-6]
[gw18] [ 74%] PASSED tests/test_rigid_physics.py::test_set_sol_params[0-False]
tests/test_rigid_physics.py::test_terrain_generation[True-gpu]
[gw62] [ 74%] PASSED tests/test_sensors.py::test_lidar_bvh_parallel_env
tests/test_utils.py::test_polar_pure_rotation[False]
[gw26] [ 74%] PASSED tests/test_rigid_physics.py::test_inverse_kinematics_multilink_local_points[gpu]
tests/test_rigid_physics.py::test_mjcf_parsing_with_include
[gw21] [ 74%] PASSED tests/test_rigid_physics.py::test_rope_ball[cpu-True-Euler-Newton-xml/rope_ball.xml]
tests/test_rigid_physics.py::test_inverse_kinematics_multilink[cpu]
[gw37] [ 74%] PASSED tests/test_utils.py::test_geom_numpy_vs_torch_consistency[(10, 40, 25)]
tests/test_rigid_physics.py::test_xacro_loading
[gw49] [ 74%] PASSED tests/test_rigid_physics.py::test_joint_get_anchor_pos_and_axis[0]
tests/test_sensors.py::test_proximity_sensor_box_sphere[2]
[gw40] [ 75%] PASSED tests/test_rigid_physics.py::test_mesh_repair[cpu-False-True]
tests/test_rigid_physics.py::test_urdf_joint_dynamics[1.0-2.0-pendulum_with_joint_dynamics]
[gw36] [ 75%] PASSED tests/test_rigid_physics.py::test_urdf_mimic
tests/test_sensor_camera.py::test_raytracer_attached_without_offset_T
[gw60] [ 75%] PASSED tests/test_rigid_physics.py::test_walker[cpu-True-implicitfast-CG-xml/walker.xml]
tests/test_rigid_physics.py::test_box_box_dynamics[cpu-implicitfast-Newton-box_box]
[gw52] [ 75%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-3]
tests/test_rigid_physics.py::test_axis_aligned_bounding_boxes[0]
[gw62] [ 75%] PASSED tests/test_utils.py::test_polar_pure_rotation[False]
tests/test_rigid_physics_sparse.py::test_sparse_solve_no_nan[cpu]
[gw48] [ 75%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-6]
tests/test_rigid_physics.py::test_mesh_align
[gw61] [ 75%] PASSED tests/test_rigid_physics.py::test_getter_vs_state_post_step_consistency[False]
tests/test_sensors.py::test_raycaster_hits[2]
[gw1] [ 76%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-4]
tests/test_rigid_physics.py::test_merge_entities[False-False]
[gw8] [ 76%] PASSED tests/test_sph.py::test_sph_density_consistency_different_particle_sizes[0.02-WCSPH]
tests/test_render.py::test_segmentation_map[particle-entity-BATCHRENDER_RAYTRACER]
[gw40] [ 76%] PASSED tests/test_rigid_physics.py::test_urdf_joint_dynamics[1.0-2.0-pendulum_with_joint_dynamics]
tests/test_sensor_camera.py::test_raytracer[0]
[gw33] [ 76%] PASSED tests/test_rigid_physics.py::test_contype_conaffinity
tests/test_sensors.py::test_temperature_grid_sensor_contact_and_reset[2]
[gw30] [ 76%] PASSED tests/test_rigid_physics.py::test_multi_robot_inverse_kinematics
tests/test_rigid_physics.py::test_urdf_parsing
[gw16] [ 76%] PASSED tests/test_rigid_physics.py::test_rope_ball[cpu-True-implicitfast-Newton-xml/rope_hinge.xml]
tests/test_rigid_physics.py::test_normalized_quat
[gw22] [ 76%] PASSED tests/test_rigid_physics.py::test_inverse_kinematics_local_point[0]
tests/test_rigid_physics.py::test_mesh_to_heightfield
[gw53] [ 77%] PASSED tests/test_rigid_physics.py::test_simple_kinematic_chain[cpu-False-Euler-CG-chain_capsule_hinge_mesh]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-Euler-Newton-xml/tet_ball.xml]
[gw57] [ 77%] PASSED tests/test_rigid_physics.py::test_walker[cpu-True-Euler-CG-xml/walker.xml]
tests/test_rigid_physics.py::test_box_box_dynamics[cpu-Euler-CG-box_box]
[gw20] [ 77%] PASSED tests/test_rigid_physics.py::test_inverse_kinematics_local_point[2]
tests/test_rigid_physics.py::test_subterrain_parameters
[gw24] [ 77%] PASSED tests/test_usd.py::test_pure_rigid_body_fixed[True]
tests/test_rigid_physics.py::test_energy_analytical_and_conservation[Euler]
[gw19] [ 77%] PASSED tests/test_rigid_physics.py::test_set_sol_params[3-True]
tests/test_rigid_physics.py::test_terrain_generation[False-cpu]
[gw28] [ 77%] PASSED tests/test_rigid_physics.py::test_urdf_parsing_merge_fixed_links[False-dual_arms_glb/dual_arms_glb.urdf]
tests/test_sensor_camera.py::test_rasterizer_batched
[gw13] [ 78%] PASSED tests/test_hybrid.py::test_sap_fem_vs_robot[64]
tests/test_misc.py::test_auto_and_user_names
[gw15] [ 78%] PASSED tests/test_rigid_physics.py::test_collision_plane_convex[cpu]
tests/test_rigid_physics.py::test_energy_analytical_and_conservation[approximate_implicitfast]
[gw4] [ 78%] PASSED tests/test_rigid_physics.py::test_merge_entities[True-True]
tests/test_sph.py::test_sph_simulation_stability_regular_sampler[WCSPH]
[gw46] [ 78%] PASSED tests/test_rigid_physics.py::test_get_constraints_api
tests/test_sensors.py::test_imu_sensor[2]
[gw20] [ 78%] PASSED tests/test_rigid_physics.py::test_subterrain_parameters
tests/test_usd.py::test_usd_visual_parse[usd/RoughnessTest]
[gw2] [ 78%] PASSED tests/test_rigid_physics.py::test_merge_entities[False-True]
tests/test_sph.py::test_sph_initial_pressure_regular_sampler[WCSPH]
[gw43] [ 78%] PASSED tests/test_sensor_camera.py::test_camera_lookat_entity
tests/test_utils.py::test_geom_quadrants_identity[()]
[gw25] [ 79%] PASSED tests/test_rigid_physics.py::test_urdf_parsing_merge_fixed_links[False-chain.urdf]
tests/test_sensor_camera.py::test_rasterizer_non_batched[1]
[gw5] [ 79%] PASSED tests/test_rigid_physics.py::test_mesh_primitive_COM
tests/test_sensors.py::test_temperature_grid_simulate_all_link_temps[0]
[gw18] [ 79%] PASSED tests/test_rigid_physics.py::test_terrain_generation[True-gpu]
tests/test_rigid_physics_analytical_vs_gjk.py::test_sphere_sphere_gjk[gpu]
[gw58] [ 79%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-Euler-Newton-xml/tet_tet.xml]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-1]
[gw13] [ 79%] PASSED tests/test_misc.py::test_auto_and_user_names
tests/test_usd.py::test_primitives_mjcf_vs_usd[2.0-all_primitives_mjcf]
[gw43] [ 79%] PASSED tests/test_utils.py::test_geom_quadrants_identity[()]
tests/test_usd.py::test_humanoid_generic_joint_detection
[gw55] [ 80%] PASSED tests/test_sensors.py::test_proximity_sensor_box_sphere[0]
tests/test_viewer.py::test_viewer_thread_crash_reports_traceback
[gw9] [ 80%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-3]
tests/test_rigid_physics.py::test_heterogeneous_aabb
[gw8] [ 80%] PASSED tests/test_render.py::test_segmentation_map[particle-entity-BATCHRENDER_RAYTRACER]
tests/test_rigid_physics.py::test_one_ball_joint[cpu-Euler-Newton-xml/one_ball_joint.xml]
[gw32] [ 80%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-7]
tests/test_rigid_physics.py::test_hibernation_and_contact_islands[True]
[gw32] [ 80%] SKIPPED tests/test_rigid_physics.py::test_hibernation_and_contact_islands[True]
[gw29] [ 80%] PASSED tests/test_rigid_physics.py::test_mass_mat
tests/test_rigid_physics.py::test_urdf_parsing_merge_fixed_links[False-dual_arms_primitives.urdf]
[gw38] [ 80%] PASSED tests/test_sensor_camera.py::test_raytracer[1]
tests/test_utils.py::test_geom_quadrants_identity[(10, 40, 25)]
[gw50] [ 81%] PASSED tests/test_rigid_physics.py::test_simple_kinematic_chain[cpu-False-implicitfast-CG-chain_capsule_hinge_mesh]
tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-Euler-CG-xml/tet_capsule.xml]
[gw17] [ 81%] XFAIL tests/test_rigid_physics.py::test_nan_reset[Euler-CG-collision_edge_cases-3]
tests/test_rigid_physics_analytical_vs_gjk.py::test_capsule_capsule_vs_gjk[cpu]
[gw47] [ 81%] PASSED tests/test_sensors.py::test_raycaster_hits[0]
tests/test_utils.py::test_polar_decomposition[right]
[gw14] [ 81%] PASSED tests/test_rigid_physics.py::test_set_root_pose[False-True]
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-8]
[gw38] [ 81%] PASSED tests/test_utils.py::test_geom_quadrants_identity[(10, 40, 25)]
[gw60] [ 81%] PASSED tests/test_rigid_physics.py::test_box_box_dynamics[cpu-implicitfast-Newton-box_box]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-8]
[gw22] [ 82%] PASSED tests/test_rigid_physics.py::test_mesh_to_heightfield
tests/test_utils.py::test_polar_decomposition_batched_numpy[(3, 4)-right]
[gw3] [ 82%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-6]
tests/test_rigid_physics_analytical_vs_gjk.py::test_sphere_sphere_gjk[cpu]
[gw39] [ 82%] PASSED tests/test_sensors.py::test_temperature_grid_sensor_contact_and_reset[0]
tests/test_utils.py::test_polar_decomposition_batched_numpy[(5,)-right]
[gw42] [ 82%] PASSED tests/test_utils.py::test_geom_tensor_identity[(10, 40, 25)]
tests/test_rigid_physics_analytical_vs_gjk.py::test_sphere_capsule_vs_gjk[gpu]
[gw54] [ 82%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-7]
tests/test_rigid_physics_analytical_vs_gjk.py::test_capsule_analytical_accuracy[gpu]
[gw47] [ 82%] PASSED tests/test_utils.py::test_polar_decomposition[right]
[gw39] [ 82%] PASSED tests/test_utils.py::test_polar_decomposition_batched_numpy[(5,)-right]
[gw46] [ 83%] PASSED tests/test_sensors.py::test_imu_sensor[2]
tests/test_utils.py::test_compose_inertial_properties
[gw10] [ 83%] PASSED tests/test_rigid_physics.py::test_pick_heterogenous_objects[gpu]
tests/test_sph.py::test_dfsph_simulation_builds_and_runs
[gw63] [ 83%] PASSED tests/test_rigid_physics.py::test_axis_aligned_bounding_boxes[3]
tests/test_sensors.py::test_kinematic_contact_probe_box_support[0]
[gw4] [ 83%] PASSED tests/test_sph.py::test_sph_simulation_stability_regular_sampler[WCSPH]
tests/test_usd.py::test_joints_mjcf_vs_usd[without_articulation_root-2.0-all_joints_mjcf]
[gw2] [ 83%] PASSED tests/test_sph.py::test_sph_initial_pressure_regular_sampler[WCSPH]
tests/test_usd.py::test_collision_only_fixed_override[False-6]
[gw57] [ 83%] PASSED tests/test_rigid_physics.py::test_box_box_dynamics[cpu-Euler-CG-box_box]
tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-0]
[gw46] [ 84%] PASSED tests/test_utils.py::test_compose_inertial_properties
[gw56] [ 84%] PASSED tests/test_rigid_physics_analytical_vs_gjk.py::test_sphere_capsule_vs_gjk[cpu]
tests/test_usd.py::test_massapi_invalid_defaults_mjcf_vs_usd[1.0]
[gw12] [ 84%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-6]
tests/test_rigid_physics.py::test_heterogeneous_articulated_structure_mismatch
[gw22] [ 84%] PASSED tests/test_utils.py::test_polar_decomposition_batched_numpy[(3, 4)-right]
[gw31] [ 84%] PASSED tests/test_sensor_camera.py::test_batch_renderer[2-cuda]
tests/test_usd.py::test_ant_capsule_axis_collision
[gw20] [ 84%] PASSED tests/test_usd.py::test_usd_visual_parse[usd/RoughnessTest]
tests/test_usd.py::test_pure_rigid_body_fixed[False]
[gw21] [ 84%] PASSED tests/test_rigid_physics.py::test_inverse_kinematics_multilink[cpu]
tests/test_rigid_physics.py::test_terrain_generation[False-gpu]
[gw58] [ 85%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-1]
tests/test_usd.py::test_massapi_invalid_defaults_mjcf_vs_usd[2.0]
[gw12] [ 85%] PASSED tests/test_rigid_physics.py::test_heterogeneous_articulated_structure_mismatch
[gw19] [ 85%] PASSED tests/test_rigid_physics.py::test_terrain_generation[False-cpu]
tests/test_sph.py::test_sph_density_consistency_different_particle_sizes[0.02-DFSPH]
[gw51] [ 85%] PASSED tests/test_sensors.py::test_elastomer_displacement_sensor_sphere_ground[2]
tests/test_utils.py::test_polar_decomposition_batched_pure_rotation[left]
[gw62] [ 85%] PASSED tests/test_rigid_physics_sparse.py::test_sparse_solve_no_nan[cpu]
tests/test_usd.py::test_collision_only_fixed_override[None-0]
[gw0] [ 85%] PASSED tests/test_rigid_physics.py::test_joint_get_anchor_pos_and_axis[2]
tests/test_sph.py::test_sph_initial_density_regular_sampler[WCSPH]
[gw53] [ 86%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-Euler-Newton-xml/tet_ball.xml]
tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-2]
[gw34] [ 86%] PASSED tests/test_rigid_physics.py::test_merge_entities[True-False]
tests/test_sph.py::test_sph_initial_pressure_regular_sampler[DFSPH]
[gw27] [ 86%] PASSED tests/test_sensor_camera.py::test_rasterizer_non_batched[0]
tests/test_usd.py::test_collision_only_fixed_override[True-0]
[gw45] [ 86%] PASSED tests/test_rigid_physics.py::test_cholesky_tiling_large_shared_memory[cuda]
tests/test_sensors.py::test_contact_sensors_gravity_force[0]
[gw44] [ 86%] PASSED tests/test_sensors.py::test_contact_sensors_gravity_force[2]
tests/test_utils.py::test_slerp[()]
[gw8] [ 86%] PASSED tests/test_rigid_physics.py::test_one_ball_joint[cpu-Euler-Newton-xml/one_ball_joint.xml]
tests/test_usd.py::test_usd_parse_nodegraph[usd/nodegraph.usda]
[gw11] [ 86%] PASSED tests/test_rigid_physics.py::test_heterogeneous_robots
tests/test_usd.py::test_primitives_mjcf_vs_usd[1.0-all_primitives_mjcf]
[gw18] [ 87%] PASSED tests/test_rigid_physics_analytical_vs_gjk.py::test_sphere_sphere_gjk[gpu]
tests/test_viewer.py::test_interactive_viewer_disable_viewer_defaults
[gw51] [ 87%] PASSED tests/test_utils.py::test_polar_decomposition_batched_pure_rotation[left]
[gw7] [ 87%] PASSED tests/test_sensors.py::test_elastomer_displacement_sensor_box_sphere[2]
tests/test_viewer.py::test_default_viewer_plugin
[gw3] [ 87%] PASSED tests/test_rigid_physics_analytical_vs_gjk.py::test_sphere_sphere_gjk[cpu]
[gw44] [ 87%] PASSED tests/test_utils.py::test_slerp[()]
[gw6] [ 87%] PASSED tests/test_rigid_physics.py::test_urdf_align
tests/test_rigid_physics_analytical_vs_gjk.py::test_capsule_analytical_accuracy[cpu]
[gw37] [ 88%] PASSED tests/test_rigid_physics.py::test_xacro_loading
tests/test_sensors.py::test_elastomer_displacement_sensor_box_sphere[0]
[gw35] [ 88%] PASSED tests/test_sensor_camera.py::test_batch_renderer[0-cuda]
tests/test_usd.py::test_oriented_capsule
[gw20] [ 88%] PASSED tests/test_usd.py::test_pure_rigid_body_fixed[False]
[gw57] [ 88%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-True-Euler-CG-collision_edge_cases-0]
[gw10] [ 88%] PASSED tests/test_sph.py::test_dfsph_simulation_builds_and_runs
[gw2] [ 88%] PASSED tests/test_usd.py::test_collision_only_fixed_override[False-6]
[gw59] [ 88%] PASSED tests/test_sensors.py::test_kinematic_contact_probe_box_support[2]
tests/test_utils.py::test_polar_decomposition_batched_numpy[(2, 3, 4)-left]
[gw29] [ 89%] PASSED tests/test_rigid_physics.py::test_urdf_parsing_merge_fixed_links[False-dual_arms_primitives.urdf]
[gw55] [ 89%] PASSED tests/test_viewer.py::test_viewer_thread_crash_reports_traceback
tests/test_utils.py::test_polar_decomposition_batched_numpy[(2, 3, 4)-right]
[gw50] [ 89%] PASSED tests/test_rigid_physics.py::test_tet_primitive_shapes[cpu-False-True-Euler-CG-xml/tet_capsule.xml]
[gw56] [ 89%] PASSED tests/test_usd.py::test_massapi_invalid_defaults_mjcf_vs_usd[1.0]
[gw36] [ 89%] PASSED tests/test_sensor_camera.py::test_raytracer_attached_without_offset_T
tests/test_utils.py::test_geom_quadrants_inverse[(10, 40, 25)]
[gw19] [ 89%] PASSED tests/test_sph.py::test_sph_density_consistency_different_particle_sizes[0.02-DFSPH]
[gw60] [ 90%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-8]
[gw59] [ 90%] PASSED tests/test_utils.py::test_polar_decomposition_batched_numpy[(2, 3, 4)-left]
[gw33] [ 90%] PASSED tests/test_sensors.py::test_temperature_grid_sensor_contact_and_reset[2]
tests/test_utils.py::test_polar_decomposition_batched_numpy[(5,)-left]
[gw0] [ 90%] PASSED tests/test_sph.py::test_sph_initial_density_regular_sampler[WCSPH]
[gw58] [ 90%] PASSED tests/test_usd.py::test_massapi_invalid_defaults_mjcf_vs_usd[2.0]
[gw55] [ 90%] PASSED tests/test_utils.py::test_polar_decomposition_batched_numpy[(2, 3, 4)-right]
[gw53] [ 90%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[cpu-False-Euler-CG-collision_edge_cases-2]
[gw34] [ 91%] PASSED tests/test_sph.py::test_sph_initial_pressure_regular_sampler[DFSPH]
[gw1] [ 91%] PASSED tests/test_rigid_physics.py::test_merge_entities[False-False]
tests/test_sph.py::test_sph_initial_density_regular_sampler[DFSPH]
[gw40] [ 91%] PASSED tests/test_sensor_camera.py::test_raytracer[0]
tests/test_utils.py::test_geom_quadrants_inverse[()]
[gw24] [ 91%] PASSED tests/test_rigid_physics.py::test_energy_analytical_and_conservation[Euler]
tests/test_usd.py::test_joints_mjcf_vs_usd[with_articulation_root-2.0-all_joints_mjcf]
[gw62] [ 91%] PASSED tests/test_usd.py::test_collision_only_fixed_override[None-0]
[gw21] [ 91%] PASSED tests/test_rigid_physics.py::test_terrain_generation[False-gpu]
[gw23] [ 92%] PASSED tests/test_rigid_physics.py::test_inverse_kinematics_multilink[gpu]
tests/test_rigid_physics.py::test_terrain_discrete_obstacles
[gw27] [ 92%] PASSED tests/test_usd.py::test_collision_only_fixed_override[True-0]
[gw61] [ 92%] PASSED tests/test_sensors.py::test_raycaster_hits[2]
tests/test_utils.py::test_polar_decomposition[left]
[gw15] [ 92%] PASSED tests/test_rigid_physics.py::test_energy_analytical_and_conservation[approximate_implicitfast]
tests/test_usd.py::test_joints_mjcf_vs_usd[without_articulation_root-1.0-all_joints_mjcf]
[gw48] [ 92%] PASSED tests/test_rigid_physics.py::test_mesh_align
tests/test_sensors.py::test_elastomer_displacement_sensor_sphere_ground[0]
[gw8] [ 92%] PASSED tests/test_usd.py::test_usd_parse_nodegraph[usd/nodegraph.usda]
[gw26] [ 92%] PASSED tests/test_rigid_physics.py::test_mjcf_parsing_with_include
tests/test_rigid_physics_sparse.py::test_sparse_solve_no_nan[gpu]
[gw33] [ 93%] PASSED tests/test_utils.py::test_polar_decomposition_batched_numpy[(5,)-left]
[gw40] [ 93%] PASSED tests/test_utils.py::test_geom_quadrants_inverse[()]
[gw25] [ 93%] PASSED tests/test_sensor_camera.py::test_rasterizer_non_batched[1]
tests/test_usd.py::test_visual_collision_parsing
[gw18] [ 93%] PASSED tests/test_viewer.py::test_interactive_viewer_disable_viewer_defaults
[gw49] [ 93%] PASSED tests/test_sensors.py::test_proximity_sensor_box_sphere[2]
tests/test_viewer.py::test_mouse_interaction_plugin
[gw61] [ 93%] PASSED tests/test_utils.py::test_polar_decomposition[left]
[gw5] [ 94%] PASSED tests/test_sensors.py::test_temperature_grid_simulate_all_link_temps[0]
tests/test_usd.py::test_joints_mjcf_vs_usd[with_articulation_root-1.0-all_joints_mjcf]
[gw17] [ 94%] PASSED tests/test_rigid_physics_analytical_vs_gjk.py::test_capsule_capsule_vs_gjk[cpu]
[gw14] [ 94%] PASSED tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-8]
[gw52] [ 94%] PASSED tests/test_rigid_physics.py::test_axis_aligned_bounding_boxes[0]
tests/test_sensors.py::test_temperature_grid_simulate_all_link_temps[2]
[gw28] [ 94%] PASSED tests/test_sensor_camera.py::test_rasterizer_batched
tests/test_usd.py::test_ur10_visual_fallback
[gw54] [ 94%] PASSED tests/test_rigid_physics_analytical_vs_gjk.py::test_capsule_analytical_accuracy[gpu]
[gw9] [ 94%] PASSED tests/test_rigid_physics.py::test_heterogeneous_aabb
tests/test_utils.py::test_polar_decomposition_batched_pure_rotation[right]
[gw16] [ 95%] PASSED tests/test_rigid_physics.py::test_normalized_quat
tests/test_usd.py::test_uv_size_mismatch_no_crash
[gw7] [ 95%] PASSED tests/test_viewer.py::test_default_viewer_plugin
[gw23] [ 95%] PASSED tests/test_rigid_physics.py::test_terrain_discrete_obstacles
[gw6] [ 95%] PASSED tests/test_rigid_physics_analytical_vs_gjk.py::test_capsule_analytical_accuracy[cpu]
[gw63] [ 95%] PASSED tests/test_sensors.py::test_kinematic_contact_probe_box_support[0]
[gw1] [ 95%] PASSED tests/test_sph.py::test_sph_initial_density_regular_sampler[DFSPH]
[gw30] [ 96%] PASSED tests/test_rigid_physics.py::test_urdf_parsing
tests/test_sensor_camera.py::test_rasterizer_attached_batched
[gw9] [ 96%] PASSED tests/test_utils.py::test_polar_decomposition_batched_pure_rotation[right]
[gw41] [ 96%] PASSED tests/test_rigid_physics_analytical_vs_gjk.py::test_capsule_capsule_vs_gjk[gpu]
tests/test_usd.py::test_usd_visual_parse[usd/sneaker_airforce]
[gw36] [ 96%] PASSED tests/test_utils.py::test_geom_quadrants_inverse[(10, 40, 25)]
[gw31] [ 96%] PASSED tests/test_usd.py::test_ant_capsule_axis_collision
[gw25] [ 96%] PASSED tests/test_usd.py::test_visual_collision_parsing
[gw4] [ 96%] PASSED tests/test_usd.py::test_joints_mjcf_vs_usd[without_articulation_root-2.0-all_joints_mjcf]
[gw13] [ 97%] PASSED tests/test_usd.py::test_primitives_mjcf_vs_usd[2.0-all_primitives_mjcf]
tests/test_utils.py::test_slerp[(10, 40, 25)]
[gw43] [ 97%] PASSED tests/test_usd.py::test_humanoid_generic_joint_detection
tests/test_utils.py::test_polar_decomposition_batched_numpy[(3, 4)-left]
[gw35] [ 97%] PASSED tests/test_usd.py::test_oriented_capsule
[gw16] [ 97%] PASSED tests/test_usd.py::test_uv_size_mismatch_no_crash
[gw43] [ 97%] PASSED tests/test_utils.py::test_polar_decomposition_batched_numpy[(3, 4)-left]
[gw37] [ 97%] PASSED tests/test_sensors.py::test_elastomer_displacement_sensor_box_sphere[0]
[gw45] [ 98%] PASSED tests/test_sensors.py::test_contact_sensors_gravity_force[0]
[gw49] [ 98%] PASSED tests/test_viewer.py::test_mouse_interaction_plugin
[gw41] [ 98%] PASSED tests/test_usd.py::test_usd_visual_parse[usd/sneaker_airforce]
[gw24] [ 98%] PASSED tests/test_usd.py::test_joints_mjcf_vs_usd[with_articulation_root-2.0-all_joints_mjcf]
[gw11] [ 98%] PASSED tests/test_usd.py::test_primitives_mjcf_vs_usd[1.0-all_primitives_mjcf]
[gw42] [ 98%] PASSED tests/test_rigid_physics_analytical_vs_gjk.py::test_sphere_capsule_vs_gjk[gpu]
[gw48] [ 98%] PASSED tests/test_sensors.py::test_elastomer_displacement_sensor_sphere_ground[0]
[gw52] [ 99%] PASSED tests/test_sensors.py::test_temperature_grid_simulate_all_link_temps[2]
[gw15] [ 99%] PASSED tests/test_usd.py::test_joints_mjcf_vs_usd[without_articulation_root-1.0-all_joints_mjcf]
[gw28] [ 99%] PASSED tests/test_usd.py::test_ur10_visual_fallback
[gw5] [ 99%] PASSED tests/test_usd.py::test_joints_mjcf_vs_usd[with_articulation_root-1.0-all_joints_mjcf]
[gw13] [ 99%] PASSED tests/test_utils.py::test_slerp[(10, 40, 25)]
[gw26] [ 99%] PASSED tests/test_rigid_physics_sparse.py::test_sparse_solve_no_nan[gpu]
[gw30] [100%] PASSED tests/test_sensor_camera.py::test_rasterizer_attached_batched

============================================================================================================================== slowest durations ===============================================================================================================================
384.08s call     tests/test_ipc.py::test_cloth_corner_drag[2]
317.75s call     tests/test_grad.py::test_differentiable_rigid[gpu]
200.47s call     tests/test_rigid_physics.py::test_noslip_iterations[gpu-False-0.5-1.0]
190.52s call     tests/test_rigid_physics.py::test_noslip_iterations[gpu-True-0.5-0.04]
190.18s call     tests/test_usd.py::test_usd_bake[cuda-usd/franka_mocap_teleop/table_scene.usd]
189.20s call     tests/test_rigid_physics.py::test_path_planning_avoidance[gpu-2]
185.99s call     tests/test_ipc.py::test_cloth_corner_drag[0]
182.18s call     tests/test_rigid_physics.py::test_noslip_iterations[gpu-True-0.5-1.0]
180.79s call     tests/test_rigid_physics.py::test_noslip_iterations[gpu-True-2.0-0.04]
174.70s call     tests/test_rigid_physics.py::test_path_planning_avoidance[gpu-0]
174.03s call     tests/test_rigid_physics.py::test_data_accessor[0-False-gpu]
173.77s call     tests/test_rigid_physics.py::test_noslip_iterations[gpu-False-2.0-1.0]
172.09s call     tests/test_rigid_physics.py::test_convexify[gpu-False-(74, 15, 90)]
172.09s call     tests/test_integration.py::test_pick_and_place[gpu-1]
171.97s call     tests/test_rigid_physics_analytical_vs_gjk.py::test_capsule_capsule_vs_gjk[gpu]
171.84s call     tests/test_rigid_physics.py::test_convexify[gpu-True-(90, 0, 90)]
169.78s call     tests/test_render.py::test_camera_follow_entity[RASTERIZER-0]
165.57s call     tests/test_render.py::test_camera_follow_entity[RASTERIZER-2]
164.81s call     tests/test_rigid_physics.py::test_noslip_iterations[gpu-False-0.5-0.04]
163.95s call     tests/test_rigid_physics.py::test_inverse_kinematics_multilink_local_points[gpu]
163.40s call     tests/test_rigid_physics.py::test_multi_robot_inverse_kinematics
162.79s call     tests/test_rigid_physics.py::test_batched_info[False-True-False]
161.70s call     tests/test_hybrid.py::test_mesh_mpm_build
161.69s call     tests/test_kinematic.py::test_track_rigid
161.16s call     tests/test_render.py::test_rasterizer_env_separate[False-RASTERIZER]
160.46s call     tests/test_hybrid.py::test_rigid_mpm_muscle
160.45s call     tests/test_rigid_physics.py::test_convexify[gpu-False-(90, 0, 90)]
160.29s call     tests/test_rigid_physics.py::test_cholesky_tiling[gpu-64]
159.74s call     tests/test_ipc.py::test_objects_colliding[0]
157.97s call     tests/test_rigid_physics.py::test_batched_info[True-False-False]
157.90s call     tests/test_render.py::test_sensors_draw_debug[RASTERIZER-0]
157.53s call     tests/test_rigid_physics.py::test_noslip_iterations[gpu-False-2.0-0.04]
157.38s call     tests/test_render.py::test_rasterizer_env_separate[True-RASTERIZER]
157.08s call     tests/test_integration.py::test_pick_and_place[gpu-0]
155.76s call     tests/test_ipc.py::test_robot_grasp_fem[two_way_soft_constraint]
155.21s call     tests/test_integration.py::test_hanging_rigid_cable[gpu]
154.21s call     tests/test_rigid_physics.py::test_noslip_iterations[gpu-True-2.0-1.0]
153.89s call     tests/test_rigid_physics.py::test_batched_info[True-True-False]
153.19s call     tests/test_rigid_physics.py::test_mass_mat
152.86s call     tests/test_rigid_physics.py::test_cholesky_tiling[gpu-32]
152.38s call     tests/test_render.py::test_deterministic[RASTERIZER]
152.04s call     tests/test_ipc.py::test_collision_delegation_ipc_vs_rigid[two_way_soft_constraint-False]
151.90s call     tests/test_rigid_physics.py::test_convexify[gpu-True-(74, 15, 90)]
151.17s call     tests/test_rigid_physics.py::test_batched_info[False-False-True]
150.68s call     tests/test_sensors.py::test_proximity_sensor_box_sphere[0]
150.46s call     tests/test_rigid_physics.py::test_batched_info[True-True-True]
150.26s call     tests/test_rigid_physics_analytical_vs_gjk.py::test_sphere_capsule_vs_gjk[gpu]
149.83s call     tests/test_integration.py::test_pick_and_place[gpu-2]
149.70s call     tests/test_ipc.py::test_collision_delegation_ipc_vs_rigid[two_way_soft_constraint-True]
148.61s call     tests/test_rigid_physics.py::test_num_contact_overflow[gpu]
147.64s call     tests/test_rigid_physics.py::test_batched_info[False-True-True]
147.33s call     tests/test_utils.py::test_geom_quadrants_vs_tensor_consistency[(10, 40, 25)]
147.25s call     tests/test_render.py::test_sensors_draw_debug[RASTERIZER-2]
146.47s call     tests/test_rigid_physics.py::test_batched_info[True-False-True]
145.43s call     tests/test_rigid_physics.py::test_extended_broadcasting
144.47s call     tests/test_sensors.py::test_contact_sensors_gravity_force[2]
143.97s call     tests/test_sensor_camera.py::test_camera_lookat_entity
142.84s call     tests/test_rigid_physics.py::test_axis_aligned_bounding_boxes[3]
142.27s call     tests/test_rigid_physics.py::test_contact_forces[gpu-32]
140.28s call     tests/test_rigid_physics.py::test_urdf_parsing_merge_fixed_links[False-dual_arms_glb/dual_arms_glb.urdf]
140.14s call     tests/test_rigid_physics.py::test_urdf_parsing
140.11s call     tests/test_rigid_physics.py::test_batched_info[False-False-False]
139.62s call     tests/test_ipc.py::test_robot_grasp_fem[external_articulation]
138.22s call     tests/test_rigid_physics.py::test_contype_conaffinity
138.04s call     tests/test_rigid_physics.py::test_inverse_kinematics_multilink[gpu]
136.50s call     tests/test_render.py::test_madrona_batch_texture[BATCHRENDER_RAYTRACER]
135.30s call     tests/test_quadrants.py::test_ndarray_no_compile[gpu-[(3, 3), (4, 4)]-None]
134.75s call     tests/test_sensors.py::test_proximity_sensor_box_sphere[2]
134.07s call     tests/test_rigid_physics.py::test_axis_aligned_bounding_boxes[0]
130.98s call     tests/test_render.py::test_deterministic[BATCHRENDER_RAYTRACER]
130.04s call     tests/test_usd.py::test_usd_bake[cuda-usd/WoodenCrate/WoodenCrate_D1_1002.usda]
129.98s call     tests/test_rigid_physics.py::test_mjcf_parsing_with_include
129.84s call     tests/test_rigid_physics.py::test_normalized_quat
129.20s call     tests/test_usd.py::test_primitives_mjcf_vs_usd[2.0-all_primitives_mjcf]
129.04s call     tests/test_usd.py::test_humanoid_generic_joint_detection
128.59s call     tests/test_rigid_physics.py::test_heterogeneous_simulation
128.13s call     tests/test_sensors.py::test_add_and_read_all_registered_sensors
126.39s call     tests/test_rigid_physics.py::test_reset
124.88s call     tests/test_render.py::test_madrona_batch_texture[BATCHRENDER_RASTERIZER]
124.69s call     tests/test_rigid_physics.py::test_cholesky_tiling_large_shared_memory[cuda]
123.37s call     tests/test_rigid_physics.py::test_set_root_pose[False-False]
120.80s call     tests/test_sensor_camera.py::test_raytracer[1]
120.76s call     tests/test_rigid_physics.py::test_set_root_pose[True-False]
120.41s call     tests/test_rigid_physics.py::test_pick_heterogenous_objects[gpu]
120.06s call     tests/test_rigid_physics.py::test_scene_saver_franka[gpu]
119.90s call     tests/test_rigid_physics.py::test_urdf_capsule
119.35s call     tests/test_rigid_physics.py::test_filter_neutral_self_collisions
119.21s call     tests/test_rigid_physics.py::test_dynamic_weld
118.87s call     tests/test_rigid_physics.py::test_frictionloss_advanced
118.68s call     tests/test_render.py::test_madrona_lights[BATCHRENDER_RASTERIZER]
118.38s call     tests/test_rigid_physics.py::test_mesh_align
118.26s call     tests/test_deformable_physics.py::test_deformable_parallel[gpu]
118.07s call     tests/test_sensor_camera.py::test_rasterizer_batched
118.02s call     tests/test_render.py::test_madrona_lights[BATCHRENDER_RAYTRACER]
117.67s call     tests/test_rigid_physics.py::test_apply_external_forces[double_ball_pendulum]
117.46s call     tests/test_rigid_physics.py::test_set_root_pose[True-True]
116.67s call     tests/test_render.py::test_deterministic[BATCHRENDER_RASTERIZER]
115.72s call     tests/test_rigid_physics.py::test_dynamic_weld_scene_reset
115.51s call     tests/test_sensors.py::test_elastomer_displacement_sensor_box_sphere[2]
115.39s call     tests/test_rigid_physics.py::test_joint_get_anchor_pos_and_axis[0]
115.37s call     tests/test_grad.py::test_differentiable_rigid[cpu]
115.25s call     tests/test_sensors.py::test_raycaster_hits[0]
115.21s call     tests/test_quadrants.py::test_ndarray_no_compile[cpu-[(1, 0), (2, 1), (2, 2), (3, 3)]-None]
115.16s setup    tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-4]
114.75s call     tests/test_rigid_physics.py::test_heterogeneous_fewer_envs_than_variants
114.69s call     tests/test_sensors.py::test_raycaster_hits[2]
114.52s setup    tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-7]
114.41s call     tests/test_rigid_physics.py::test_set_sol_params[0-False]
114.07s call     tests/test_rigid_physics.py::test_merge_entities[False-True]
113.95s call     tests/test_quadrants.py::test_ndarray_no_compile[gpu-[(1, 0), (2, 1)]-None]
113.57s call     tests/test_render.py::test_madrona_fisheye_camera[BATCHRENDER_RAYTRACER]
113.55s setup    tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-3]
113.51s call     tests/test_sensors.py::test_temperature_grid_sensor_contact_and_reset[0]
113.47s call     tests/test_rigid_physics.py::test_default_armature_freeflyer[freeflyer_mjcf]
113.24s call     tests/test_rigid_physics.py::test_inverse_kinematics_local_point[0]
112.88s setup    tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-5]
112.38s call     tests/test_quadrants.py::test_num_envs[False-True-gpu-None]
112.16s call     tests/test_usd.py::test_primitives_mjcf_vs_usd[1.0-all_primitives_mjcf]
111.83s call     tests/test_quadrants.py::test_num_envs[False-False-cpu-None]
111.37s call     tests/test_quadrants.py::test_num_envs[False-True-cpu-None]
111.19s call     tests/test_rigid_physics.py::test_info_batching
111.19s call     tests/test_rigid_physics.py::test_inverse_kinematics_local_point[2]
111.08s call     tests/test_rigid_physics.py::test_heterogeneous_robots
110.67s call     tests/test_rigid_physics.py::test_merge_entities[True-True]
110.48s call     tests/test_rigid_physics.py::test_urdf_align
110.36s call     tests/test_ipc.py::test_cloth_uniform_biaxial_stretching[10000.0-0.3-1.0-0]
110.25s call     tests/test_sensors.py::test_kinematic_contact_probe_box_support[2]
109.99s call     tests/test_rigid_physics.py::test_mesh_primitive_COM
109.96s call     tests/test_rigid_physics.py::test_ellipsoid[ellipsoid]
109.93s call     tests/test_render.py::test_render_api_advanced[0-BATCHRENDER_RAYTRACER]
109.81s call     tests/test_sensor_camera.py::test_raytracer_attached_without_offset_T
109.49s call     tests/test_quadrants.py::test_num_envs[False-False-gpu-None]
109.27s call     tests/test_rigid_physics.py::test_set_root_pose[False-True]
108.83s call     tests/test_rigid_physics.py::test_data_accessor[3-False-cpu]
108.78s call     tests/test_sensor_camera.py::test_raytracer[0]
108.73s call     tests/test_rigid_physics.py::test_merge_entities[False-False]
107.60s call     tests/test_rigid_physics.py::test_get_constraints_api
107.59s call     tests/test_rigid_physics.py::test_merge_entities[True-False]
107.43s call     tests/test_sensor_camera.py::test_batch_renderer[0-cuda]
106.86s call     tests/test_rigid_physics.py::test_many_boxes_dynamics[cpu-False-False-True]
106.79s call     tests/test_ipc.py::test_cloth_uniform_biaxial_stretching[10000.0-0.3-1.0-2]
106.72s call     tests/test_rigid_physics.py::test_robot_scaling_primitive_collision
106.23s call     tests/test_rigid_physics.py::test_set_sol_params[3-True]
105.55s call     tests/test_render.py::test_segmentation_map[visual-geom-RASTERIZER]
105.34s call     tests/test_sensor_camera.py::test_batch_renderer[2-cuda]
104.99s call     tests/test_ipc.py::test_cloth_uniform_biaxial_stretching[50000.0-0.49-0.3-2]
104.90s call     tests/test_rigid_physics.py::test_urdf_parsing_undefined_inertia[undefined_inertia]
104.72s call     tests/test_render.py::test_render_api_advanced[4-BATCHRENDER_RAYTRACER]
104.67s setup    tests/test_rigid_physics.py::test_stickman[gpu-True-Euler-Newton-xml/humanoid.xml]
104.46s call     tests/test_rigid_physics.py::test_many_boxes_dynamics[cpu-False-True-False]
104.12s call     tests/test_rigid_physics.py::test_many_boxes_dynamics[cpu-False-False-False]
103.98s call     tests/test_sensors.py::test_contact_sensors_gravity_force[0]
103.97s call     tests/test_rigid_physics.py::test_many_boxes_dynamics[cpu-True-False-False]
103.43s call     tests/test_render.py::test_segmentation_map[particle-link-RASTERIZER]
103.29s call     tests/test_sensor_camera.py::test_rasterizer_non_batched[0]
103.29s setup    tests/test_rigid_physics.py::test_collision_edge_cases[gpu-False-Euler-CG-collision_edge_cases-6]
103.28s call     tests/test_render.py::test_segmentation_map[visual-entity-RASTERIZER]
103.13s call     tests/test_render.py::test_madrona_fisheye_camera[BATCHRENDER_RASTERIZER]
102.85s call     tests/test_render.py::test_render_api_advanced[0-RASTERIZER]
102.39s call     tests/test_sensors.py::test_temperature_grid_sensor_contact_and_reset[2]
102.35s call     tests/test_rigid_physics_analytical_vs_gjk.py::test_sphere_capsule_vs_gjk[cpu]
102.29s call     tests/test_rigid_physics.py::test_energy_analytical_and_conservation[Euler]
102.19s call     tests/test_ipc.py::test_cloth_uniform_biaxial_stretching[50000.0-0.49-0.3-0]
102.08s call     tests/test_rigid_physics.py::test_joint_get_anchor_pos_and_axis[2]
102.00s call     tests/test_quadrants.py::test_static[True-4-False-False-gpu-None]
101.64s call     tests/test_rigid_physics.py::test_path_planning_avoidance[cpu-0]
101.31s call     tests/test_sensors.py::test_temperature_grid_simulate_all_link_temps[0]
100.22s call     tests/test_render.py::test_segmentation_map[visual-link-RASTERIZER]
100.17s call     tests/test_sensors.py::test_elastomer_displacement_sensor_sphere_ground[2]

(1786 durations < 100s hidden.)
=========================================================================================================================== short test summary info ============================================================================================================================
SKIPPED [2] tests/test_integration.py:216: SAPCoupler does not support ndarray yet.
SKIPPED [1] tests/conftest.py:100: Skipping unit tests requiring performance mode when running with Quadrants dynamic array mode.
XFAIL tests/test_fem.py::test_explicit_legacy_coupler_soft_constraint_box[64] - Constraint dynamics inconsistent with analytical formula
XFAIL tests/test_rigid_physics.py::test_nan_reset[Euler-CG-collision_edge_cases-3] - No reliable way to generate nan...
============================================================================================================ 647 passed, 3 skipped, 2 xfailed in 882.29s (0:14:42) =============================================================================================================

duburcqa · 2026-04-28T14:18:49Z

comparing Quadrants main vs this PR on Genesis main:

env	batch_size	backend	gjk_collision	constraint_solver	compile_time_main_s	compile_time_587_s	compile_time_delta_pct	runtime_fps_main	runtime_fps_587	runtime_fps_delta_pct	realtime_factor_main	realtime_factor_587	realtime_factor_delta_pct
anymal_random	30000	cuda	-	-	55.2	58.6	+6.16	9236721	9243790	+0.08	92367.2	92437.9	+0.08
anymal_uniform	30000	cuda	-	-	56.0	58.8	+5.00	12290801	12269285	-0.18	122908.0	122692.9	-0.18
anymal_uniform_kinematic	0	cpu	-	-	33.8	32.8	-2.96	2054	2032	-1.07	20.5	20.3	-0.98
anymal_uniform_kinematic	30000	cuda	-	-	57.1	56.8	-0.53	10466141	10484268	+0.17	104661.4	104842.7	+0.17
anymal_zero	0	cpu	-	-	29.9	29.5	-1.34	7257	7449	+2.65	72.6	74.5	+2.62
anymal_zero	30000	cuda	-	-	55.8	60.0	+7.53	18701483	19048278	+1.85	187014.8	190482.8	+1.85
box_pyramid_3	4096	cuda	-	-	70.4	62.6	-11.08	969382	977339	+0.82	9693.8	9773.4	+0.82
box_pyramid_4	4096	cuda	-	-	60.5	70.6	+16.69	388357	393322	+1.28	3883.6	3933.2	+1.28
box_pyramid_5	4096	cuda	-	-	71.4	69.1	-3.22	141016	141414	+0.28	1410.2	1414.1	+0.28
box_pyramid_6	4096	cuda	False	-	70.1	70.1	+0.00	59335	59040	-0.50	593.4	590.4	-0.51
box_pyramid_6	4096	cuda	True	-	52.7	45.6	-13.47	60333	60182	-0.25	603.3	601.8	-0.25
dex_hand	4096	cuda	-	-	81.4	79.6	-2.21	17048	17207	+0.93	1065.5	1075.4	+0.93
duck_in_box_easy	30000	cuda	False	-	54.9	57.1	+4.01	26662843	26945421	+1.06	266628.4	269454.2	+1.06
duck_in_box_easy	30000	cuda	True	-	37.5	37.8	+0.80	9549541	9559490	+0.10	95495.4	95594.9	+0.10
duck_in_box_hard	0	cpu	-	-	31.9	32.1	+0.63	5185	5217	+0.62	51.9	52.2	+0.58
duck_in_box_hard	30000	cuda	False	-	53.2	53.7	+0.94	10239009	10295852	+0.56	102390.1	102958.5	+0.56
duck_in_box_hard	30000	cuda	True	-	37.5	38.4	+2.40	3405035	3418678	+0.40	34050.3	34186.8	+0.40
franka	30000	cuda	-	-	52.0	52.5	+0.96	22058180	22027626	-0.14	220581.8	220276.3	-0.14
franka_accessors	0	cpu	-	-	29.6	29.7	+0.34	1227	1214	-1.06	12.3	12.1	-1.63
franka_accessors	30000	cuda	-	-	52.2	53.4	+2.30	15590143	15557690	-0.21	155901.4	155576.9	-0.21
franka_free	30000	cuda	-	-	51.2	50.7	-0.98	31981995	32449328	+1.46	319820.0	324493.3	+1.46
franka_random	0	cpu	-	-	28.9	29.1	+0.69	6457	6430	-0.42	64.6	64.3	-0.46
franka_random	30000	cuda	-	CG	51.7	51.9	+0.39	16737391	16563525	-1.04	167373.9	165635.2	-1.04
franka_random	30000	cuda	-	Newton	52.0	52.9	+1.73	16343418	16302868	-0.25	163434.2	163028.7	-0.25
franka_random	30000	cuda	False	-	51.8	51.7	-0.19	16534089	16489025	-0.27	165340.9	164890.2	-0.27
franka_random	30000	cuda	True	-	34.7	34.9	+0.58	11429393	11520294	+0.80	114293.9	115202.9	+0.80
g1_fall	4096	cuda	-	Newton	69.3	69.0	-0.43	921076	911711	-1.02	4605.4	4558.6	-1.02
go2	4096	cuda	False	CG	51.3	50.7	-1.17	3678736	3619716	-1.60	36787.4	36197.2	-1.60
go2	4096	cuda	False	Newton	70.6	69.7	-1.27	4438961	4402563	-0.82	44389.6	44025.6	-0.82
go2	4096	cuda	True	-	51.8	51.5	-0.58	3273783	3285004	+0.34	32737.8	32850.0	+0.34
shadow_hand_cubes	0	cpu	-	-	31.5	31.8	+0.95	40	41	+2.50	1.3	1.4	+7.69
shadow_hand_cubes_sparse	0	cpu	-	-	30.2	30.3	+0.33	66	66	+0.00	2.2	2.2	+0.00

speed_comparison_main_vs_587.csv

…ap-stack fix - demand-driven PromoteSSA2LocalVar with relaxed AdStackAllocaJudger, new CoalesceAdStackLoads pass, ImmediateIRModifier swap, and a snap-stack on the min/max forward cmp so per-iteration winners are replayed correctly in reverse

github-actions · 2026-04-28T14:49:15Z

Coverage Report (`5475736a5`)

File	Coverage	Missing
🔴 `tests/python/test_adstack.py`	79%	2439-2441

Diff coverage: 79% · Overall: 61% · 14 lines, 3 missing

Full annotated report

github-actions · 2026-04-28T16:49:16Z

Coverage Report (`a1dec91ad`)

File	Coverage	Missing
🟢 `tests/python/test_adstack.py`	88%	2694-2698

Diff coverage: 88% · Overall: 61% · 40 lines, 5 missing

Full annotated report

hughperkins · 2026-04-28T17:46:55Z

benchmarks look good

somehow for the unit tests you pasted hundreds of lines, but it's missing the stats line at the bottom 😅 Dont suppos.e possible to paste that in please? (note: I dont need the other lines, just that one)
to what extent are you confident that the changes you've made since don't affect Genesis unit tests or benchmark results?

hughperkins · 2026-04-28T17:51:57Z

Ok, for the tests, apparenlty I ahd to scroll horizontally (I have a 13" monitor...)

duburcqa · 2026-04-28T17:54:00Z

to what extent are you confident that the changes you've made since don't affect Genesis unit tests or benchmark results?

I’m 100% sure this PR will not affect performance in the benchmark. Only auto_diff.cpp has been modified, which is dead code if AD is not enabled.

hughperkins · 2026-04-28T17:56:02Z

checklist:

no changes to how the user uses this => no user doc changes needed
passes genesis unit tests
genesis benchmarks look good

=> ok to merge

…Var, relaxed AdStackAllocaJudger, new CoalesceAdStackLoads pass, ImmediateIRModifier swap

…_collections, mark MatrixPtrStmt::offset as required def + flag from AdStackAllocaJudger; xfail-pin min-loop-carried gradient bug per review feedback

…arried alloca adstack promotion via load+store evidence

…are placeholders rewritten into AdStackPushStmts by ReplaceLocalVarWithStacks downstream

…he four parametrized tests and the three debug=True overflow flags that landed on main via PR #584; only delta vs main is the new test_adstack_min_loop_carried_serial_range_for added by this PR (with the cpu / cuda / amdgpu arch restriction dropped now that the snap-stack fix lands all backends correctly)

…trings already say 'runs on every backend', expand test_adstack_min_loop_carried_serial_range_for to n_inner=[4, 32], document the f16 alignment test's SPIR-V exclusion (MSL / Vulkan compute pipeline rejects the f16-atomic-add adstack shape)

github-actions · 2026-04-28T19:42:24Z

Coverage Report (`568b761d9`)

File	Coverage	Missing
🟢 `tests/python/test_adstack.py`	88%	2672-2676

Diff coverage: 88% · Overall: 67% · 40 lines, 5 missing

Full annotated report

* [Misc] Warn user to disable caching when print_ir/QD_DUMP_IR enabled (Genesis-Embodied-AI#425) Co-authored-by: v01dxyz <v01dxyz@v01d.xyz> * [Build] Pin torch version to CUDA 12.8 for CUDA tests (Genesis-Embodied-AI#428) * [Misc] Fixing up taichi-dev urls (Genesis-Embodied-AI#429) * [Perf] Rename cuda_graph to gpu_graph across the codebase (Genesis-Embodied-AI#430) * Misc: fix typo integeral -> integral (Genesis-Embodied-AI#434) Co-authored-by: v01dxyz <v01dxyz@v01d.xyz> * [Perf] CUDA graph 4: call from multiple locations (Genesis-Embodied-AI#420) * [Bug] Fix fastcache not restoring graph_do_while_arg (Genesis-Embodied-AI#435) * [Perf] Cache last-call result in perf_dispatch for single-compatible case (Genesis-Embodied-AI#438) * Fix gpu_graph fallback on old Nvidia GPU. (Genesis-Embodied-AI#443) * Fix shared memory offset not reset between CUDA kernels. (Genesis-Embodied-AI#442) * [Misc] Allow disabling GPU graph via QD_GPU_GRAPH=0 env var (Genesis-Embodied-AI#439) * [Misc] Add named top-level loops (Genesis-Embodied-AI#440) * [Misc] Rename gpu_graph to graph (Genesis-Embodied-AI#446) * [Misc] Add cross-platform shuffle (Genesis-Embodied-AI#447) * [Bug] Fix graph_do_while on Windows: search for cudadevrt.lib (Genesis-Embodied-AI#456) * [Bug] Also search default CUDA toolkit install location on Windows (Genesis-Embodied-AI#461) * [SPIRV] Feature Parity Atomics & Shared Array (Genesis-Embodied-AI#432) * [Misc] Change clang format to 120 characters (Genesis-Embodied-AI#463) * [Misc] CUDA graph 5 Add fatbin (Genesis-Embodied-AI#464) * [Bug] Reuse VkInstance across init/reset cycles (Genesis-Embodied-AI#465) * [Perf] Tiles 1: _load, _store, _eye_ (Genesis-Embodied-AI#466) * [Misc] Remove dead InternalFuncStmt type_check override (Genesis-Embodied-AI#471) * [Perf] Tiles 2: add cholesky and ger (Genesis-Embodied-AI#472) * [Perf] Tiles 2b: add triangular solve (Genesis-Embodied-AI#474) * [Misc] Refactor: use _get_col/_set_col in tiles load/store/init (Genesis-Embodied-AI#475) * [Build] Fix flaky test_clock_accuracy (Genesis-Embodied-AI#436) * Fix AARCH64 emitting invalid asm in CUDA kernels. (Genesis-Embodied-AI#473) Co-authored-by: Hugh Perkins <hughperkins@gmail.com> * [AMDGPU] Enable HIP memory pool and surface pool-exhaustion errors. (Genesis-Embodied-AI#485) * [AMDGPU] Scope hsaco tmp dir per-user to avoid collisions. (Genesis-Embodied-AI#484) * [Perf] Tiles 3: Add slice syntax, qd.outer() and initial doc (Genesis-Embodied-AI#477) * [AMDGPU] Fix gradient computation. (Genesis-Embodied-AI#486) * Enable all backends that are supported in unit tests. (Genesis-Embodied-AI#488) * Fix SPIRV ID overflow for large kernels due to autodiff. (Genesis-Embodied-AI#489) * [Misc] Fix purity checker to allow accessing constants from quadrants modules (Genesis-Embodied-AI#487) * [Misc] Increase tolerance for clock monotonic test (Genesis-Embodied-AI#492) * [CI] Serialize api doc workflow (Genesis-Embodied-AI#494) * [CI] Increase tolerance for clock test (Genesis-Embodied-AI#506) * [CI] Increase clock test tolerance to 20% (Genesis-Embodied-AI#509) * [Perf] Add tensor_type parametrization to tile16 tests (Genesis-Embodied-AI#504) * [Perf] Tiles 4b: Migrate tiles16 tests to enable fastcache (Genesis-Embodied-AI#505) * [Perf] Tiles 4c: add Tiles16x16 proxy (Genesis-Embodied-AI#507) * [Perf] Tiles 4d: Consolidate slice error tests using parametrize (Genesis-Embodied-AI#508) * [Perf] Tiles 4: add SharedArray slice support (Genesis-Embodied-AI#482) * [Perf] Tiles 5: add Cholesky benchmark demo (Genesis-Embodied-AI#483) * [Doc] Add user guide page for subgroup shuffle (Genesis-Embodied-AI#512) * [Perf] Implement cross-platform shuffle_down (Genesis-Embodied-AI#510) * [Perf] Add portable subgroup reduce_add and reduce_all_add (Genesis-Embodied-AI#511) * [Perf] Add first warmup config to perf dispatch (Genesis-Embodied-AI#422) * [AutoDiff] Autodiff 1: Add baseline adstack regression test for unary_collections (Genesis-Embodied-AI#500) * [AutoDiff] Autodiff 2: Implement derivative for tan (Genesis-Embodied-AI#501) * [AutoDiff] Autodiff 3: Recompute tanh/exp on the operand in the reverse pass (Genesis-Embodied-AI#502) * [AutoDiff] Autodiff 4: Mark rsqrt as non-linear for adstack promotion (Genesis-Embodied-AI#503) * [AutoDiff] Autodiff 5: Fix adjoint-alloca placement for GlobalLoads outside the current range-for (Genesis-Embodied-AI#496) * [AutoDiff] Autodiff 6: Adstack regression tests (Genesis-Embodied-AI#491) * [AutoDiff] Autodiff 7: Fix header size in AdStackAllocaStmt to match u64 runtime layout (Genesis-Embodied-AI#534) * [AutoDiff] Autodiff 8: Surface LLVM adstack push/pop overflow as a Python exception (Genesis-Embodied-AI#535) * [AutoDiff] Autodiff 9: Guard against LLVM worker-thread stack overflow from large per-task adstack budget (Genesis-Embodied-AI#495) * [AutoDiff] Autodiff 10: Implement adstack for SPIR-V (Genesis-Embodied-AI#490) * [AutoDiff] Autodiff 11: Latent adstack-adjacent fixes (AMDGPU hipFree, flush() keeps ctx_buffers_, always-preallocate) (Genesis-Embodied-AI#536) * [Doc] Add AGENTS.md with instructions for AI agents (Genesis-Embodied-AI#541) * [Bug] Abort kernel execution on assertion failure instead of segfaulting (Genesis-Embodied-AI#419) * [Type] ndarray typing 1: Add eval_str=True to inspect.signature() calls (Genesis-Embodied-AI#411) * [CI] Suppress reportPrivateImportUsage in torch-using files (Genesis-Embodied-AI#552) * [Misc] QD_DUMP_IR dumps to files with the task_id added to the filename (Genesis-Embodied-AI#441) * [Type] ndarray typing 2: Fix NDArray single-arg subscript crash (Genesis-Embodied-AI#412) * [Test] Flush xdist channel before worker exit so test failure reports are visible (Genesis-Embodied-AI#555) * [CI] Reduce test retries on CI from 3 to 1. (Genesis-Embodied-AI#554) * [AutoDiff] Autodiff 12: Heap-backed adstack on LLVM backends (CPU/CUDA/AMDGPU) (Genesis-Embodied-AI#537) * [AutoDiff] Autodiff 13: Heap-backed adstack on SPIR-V backends (Metal, Vulkan) (Genesis-Embodied-AI#493) * [AutoDiff] Autodiff 14: Resolve bounded-inner-loop adstacks without default_ad_stack_size fallback (Genesis-Embodied-AI#539) * [SPIRV] Vulkan SPIR-V correctness: atomic-view aliasing, PSB stride, narrow storage caps, u1 cast, per-init layer recheck (Genesis-Embodied-AI#513) * [Build] Autodiff 15: Replace 2022 MoltenVK pin with LunarG Vulkan SDK fetch and sanitise MoltenVK cap advertisement (Genesis-Embodied-AI#551) * [Test] Suppress stock pytest-timeout to avoid conflict with pytest_hardtle (Genesis-Embodied-AI#557) * [Vulkan] Use SDK validation layer for debugPrintf instead of apt package (Genesis-Embodied-AI#562) * [Test] Fix flaky perf_dispatch tests by increasing work amounts (Genesis-Embodied-AI#559) * [Test] Add --maxfail CLI option to run_tests.py (default 20) (Genesis-Embodied-AI#558) * [CI] Vulkan debug printf fix to address flaky tests (Genesis-Embodied-AI#563) * [Docs] Add a new page to help for first time contributors (Genesis-Embodied-AI#426) Authored-by: v01dxyz <v01dxyz@v01d.xyz> * [AutoDiff] Autodiff 16: Resolve reverse-mode adstack depths per-launch via runtime-evaluated SizeExpr (Genesis-Embodied-AI#543) * Fix: raise error if device memory allocation fails (Genesis-Embodied-AI#451) (Genesis-Embodied-AI#453) Co-authored-by: v01dxyz <v01dxyz@v01d.xyz> Co-authored-by: Hugh Perkins <hughperkins@gmail.com> * [CI] Add CI job to check line wrapping of comments and docs (Genesis-Embodied-AI#564) * [Misc] Add coverage report to PRs, including kernels (Genesis-Embodied-AI#470) * [CI] CI wrap check feeds only diffs to agent (Genesis-Embodied-AI#567) * Skip 'flaky' test on MacOS CI. (Genesis-Embodied-AI#573) * [Test] Fix missing `import sys` in test_fail_device_memory_allocation (Genesis-Embodied-AI#574) * [CI] Fix Vulkan debugPrintf flake with session-scoped warmup (Genesis-Embodied-AI#571) * [AutoDiff] determine_ad_stack_size: replace whole-CFG Bellman-Ford with SCC + DAG DP (Genesis-Embodied-AI#575) * [Test] Fix macOS OOM skip reason to describe actual root cause (Genesis-Embodied-AI#576) * [Lang] whole_kernel_cse: 2.5x compile time speedup on large kernels (Genesis-Embodied-AI#577) * [CI] Add CI check for unnecessarily deleted comments (Genesis-Embodied-AI#570) * [CI] Migrate coverage report to github Check page (Genesis-Embodied-AI#566) * [Lang] Skip IR verifier between passes unless debug=true (Genesis-Embodied-AI#579) * [Lang] Inline AdStack ops on release LLVM codegen: dramatically reduces compile time for adstack-enabled reverse-mode kernels (Genesis-Embodied-AI#584) * [CUDA] Honor offline_cache=False end-to-end so QD_OFFLINE_CACHE=0 actually gives a cold compile (Genesis-Embodied-AI#580) * [Type] Tensor 24 (Genesis-Embodied-AI#561) Co-authored-by: hugh <hugh@slurm-login-0.slurm-login.tenant-slurm.svc.cluster.local> * [Lang] auto_diff host-walk reductions: dramatically faster front-end compile time on adstack-enabled reverse-mode kernels (Genesis-Embodied-AI#587) * [AutoDiff] Speed up reverse-mode kernel launches on GPU backends (Genesis-Embodied-AI#578) * [Vulkan] Move adstack-sizer scratch out of Function-scope memory to fix SPIR-V pipeline build failures (Genesis-Embodied-AI#588) * [AutoDiff] Improve diagnosis of unsupported reverse-mode AD patterns (Genesis-Embodied-AI#590) * [Bug] Fix: promote Ndarray to AnyArray in build_Name for flattened struct fields (Genesis-Embodied-AI#592) * [SPIR-V] Shrink reverse-grad kernel MSL by ~50% (Genesis-Embodied-AI#591) * [CI] Add CI check that PR changes have test coverage (Genesis-Embodied-AI#596) * [Perf] Enable zero-copy in to_torch() and to_numpy() (Genesis-Embodied-AI#450) * Add BufferView: safe sub-range ndarray access for kernels (Genesis-Embodied-AI#585) Co-authored-by: alanray-tech <alanray-tech@users.noreply.github.com> Co-authored-by: Hugh Perkins <hughperkins@gmail.com> * [Doc] Add user-facing fastcache documentation (Genesis-Embodied-AI#597) Co-authored-by: hugh <hugh@slurm-login-0.slurm-login.tenant-slurm.svc.cluster.local> * [Misc] Upgrade to enable v1 dlpack so to_numpy(copy=False) writable (Genesis-Embodied-AI#598) Co-authored-by: root <root@rtx-209-201.slurm-compute.tenant-slurm.svc.cluster.local> * [AutoDiff] Cut reverse-mode adstack memory usage 10x on all backends (Genesis-Embodied-AI#599) * [Misc] Add CI check for feature file factorization (Genesis-Embodied-AI#606) * [Perf] Skip _recursive_set_args for all-Field frozen dataclass structs (Genesis-Embodied-AI#607) Co-authored-by: Cursor <cursoragent@cursor.com> * [AutoDiff] SNode-arm bound-expr capture rejects fold-attack gate indices (Genesis-Embodied-AI#610) * [Misc] Suppress field fastcache warning for qd.Tensor (Genesis-Embodied-AI#615) Co-authored-by: Cursor <cursoragent@cursor.com> * [AutoDiff] Adstack heap: clip reducer count by per-task loop trip count (compile-time and SizeExpr-evaluated) (Genesis-Embodied-AI#611) * [Misc] Forward copy= through qd.Tensor, add copy=None option (Genesis-Embodied-AI#616) Co-authored-by: Cursor <cursoragent@cursor.com> * [Doc] Update README (Genesis-Embodied-AI#617) Co-authored-by: Cursor <cursoragent@cursor.com> * [CI] Fix coverage report showing def lines as uncovered (Genesis-Embodied-AI#623) Co-authored-by: Cursor <cursoragent@cursor.com> * [Perf] Generic launcher: persistent context, JIT-pointer reuse, Metal compute encoder, LLVM-GPU async memory ops (Part 1/2) (Genesis-Embodied-AI#619) * [CI] Encode Python-first testing policy in coverage-check prompt (Genesis-Embodied-AI#622) Co-authored-by: Cursor <cursoragent@cursor.com> * [CI] Add PR Line change report (Genesis-Embodied-AI#624) Co-authored-by: Cursor <cursoragent@cursor.com> * [CI] Disable quadrants pytest plugin during quadrants internal coverage runs (Genesis-Embodied-AI#629) Co-authored-by: Cursor <cursoragent@cursor.com> * [AutoDiff] Adstack load+store eliminations: EliminateRecomputableAdStackPushes pass + leaf extensions (Genesis-Embodied-AI#621) * [CI] Simplify coverage PR comment to a single linked line (Genesis-Embodied-AI#630) * [CUDA] Add AGX Thor, SM_110 (Genesis-Embodied-AI#631) Co-authored-by: Johnny Nunez and Hugh Perkins * [CI] Lines changed report: collapse PR comment to a single linked totals line (Genesis-Embodied-AI#632) * [FEATURE] Support external Metal command queue via qd.init (Genesis-Embodied-AI#618) Co-authored-by: Cursor <cursoragent@cursor.com> * [Perf] Cache adstack-sizer metadata per task across SPIR-V + LLVM-GPU; per-snode / DeviceAllocation invalidation (Part 2/2) (Genesis-Embodied-AI#620) * [AutoDiff] Disable EliminateRecomputableAdStackPushes pending mutated-SNode chain-leaf fix (Genesis-Embodied-AI#633) * [AutoDiff] Adstack chain-clone safety: mutated-SNode leaf reject + load_top consumer-aware guard (Genesis-Embodied-AI#634) * [Docs] Add user-guide page for qd.simt.block.* primitives (Genesis-Embodied-AI#638) * [Docs] Expand qd.simt.subgroup user-guide page to cover every op (Genesis-Embodied-AI#639) * [Perf] Streams 1-4 (Genesis-Embodied-AI#410) * [Docs] Add user-guide page for matrix decompositions and solvers (Genesis-Embodied-AI#643) * [Bug] Revert "[Perf] Streams 1-4 (Genesis-Embodied-AI#410)" (Genesis-Embodied-AI#650) * [Docs] Add user-guide page for atomics and bit operations (Genesis-Embodied-AI#640) * [Docs] Add user-guide page for qd.simt.grid.* primitives (Genesis-Embodied-AI#641) * [AutoDiff] Adstack max-reducer: parallel multi-axis MaxOverRange dispatch (Genesis-Embodied-AI#635) * [AMDGPU] Fix amdgpu parallel rand init (Genesis-Embodied-AI#658) * [Perf] Adstack: skip max-reducer recognizer on CPU + lift host-eval cap (Genesis-Embodied-AI#655) * [Perf] Re-land Streams 1-4 with bug fixes (Genesis-Embodied-AI#653) * [AMDGPU] Apply device_memory_GB=0.3 cap to AMDGPU tests (Genesis-Embodied-AI#659) * [Perf] Per-launch host sync: drop wait_idle on SPIR-V, pin stream and drop stream_synchronize on CUDA/AMDGPU (Genesis-Embodied-AI#654) * [AMDGPU] Unload hipModule_t in JITModuleAMDGPU destructor (Genesis-Embodied-AI#660) * [AMDGPU] Trim default mempool on qd.reset() (Genesis-Embodied-AI#669) * [AMDGPU] Hoist rand-state buffer to process lifetime (Genesis-Embodied-AI#668) * [Streams] Use events for streams serialization on AMDGPU and CUDA (Genesis-Embodied-AI#667) * [Perf] Adstack max-reducer: launch cache + zero-copy result map; content-stable registry_id (Genesis-Embodied-AI#671) * [SPIR-V] dispatch_max_reducers: register each task with the real kernel name (Genesis-Embodied-AI#675) * [AutoDiff] Debug-mode field/grad/dual: dtype, layout, and access-time invariants (Genesis-Embodied-AI#677) * [Docs] Add user-guide page for qd.algorithms.* device-wide algorithms (Genesis-Embodied-AI#642) Co-authored-by: alanray-tech <alan.ray@genesis-ai.company> * [Docs] Doc for existing atomics: switch support table to per-backend columns (Genesis-Embodied-AI#657) Co-authored-by: alanray-tech <alan.ray@genesis-ai.company> * [GPU] Cross gpu atomics (Genesis-Embodied-AI#666) Co-authored-by: alanray-tech <alan.ray@genesis-ai.company> * [GPU] Make block operations portable cross-gpu (Genesis-Embodied-AI#664) * [Perf] CPU LLVM adstack-cache: skip per-launch bump-writes + ndarray_shapes capture on forward-only handles (Genesis-Embodied-AI#685) * [GPU] Cross-GPU for grid ops (Genesis-Embodied-AI#670) * [Math] Make bitop operations portable cross-gpu (Genesis-Embodied-AI#662) * [AMDGPU] Always use wave64, on both RDNA and CDNA (Genesis-Embodied-AI#687) * [AMDGPU] Use syncscope("agent") for atomix xor to avoid CAS livelock (Genesis-Embodied-AI#672) * [GPU] New bit ops for QIPC (Genesis-Embodied-AI#679) * [GPU] Subgroup ops cross-gpu (Genesis-Embodied-AI#665) * [Graph] Rename CUDA Graph to Graph in docs (Genesis-Embodied-AI#691) * [SPIR-V] Fix FIFO-queue ordering when sharing command queue. (Genesis-Embodied-AI#694) * [Atomics] New QIPC ops for atomics (Genesis-Embodied-AI#690) * Pass dataclass sub-structs into qd.func (Genesis-Embodied-AI#698) * [AMDGPU] HIP graph runtime support for @qd.kernel(graph=True) (Genesis-Embodied-AI#692) * [CI] Add per-file timing report to Mac Metal test job (Genesis-Embodied-AI#695) Co-authored-by: Cursor <cursoragent@cursor.com> * [CI] Enable kernel disk cache during tests (Genesis-Embodied-AI#696) * [Math] New QIPC ops for single-threaded linalg (Genesis-Embodied-AI#683) * [BREAKING][GPU] New QIPC ops for subgroups (Genesis-Embodied-AI#676) * [GPU] New QIPC ops for block (Genesis-Embodied-AI#684) * [GPU] New device-level ops for QIPC (Genesis-Embodied-AI#693) * [algorithms] PrefixSumExecutor: drop unused GRID_SZ local (Genesis-Embodied-AI#701) * [block] sync(): fix unsupported-arch error message (Genesis-Embodied-AI#700) * [volatile_load] add qd.volatile_load primitive (closes Genesis-Embodied-AI#648) (Genesis-Embodied-AI#702) * [AutoDiff] Reject recycled identity_key in AdStackCache::register_adstack_sizing_info (Genesis-Embodied-AI#708) * [Vulkan] Declare GroupNonUniform SPIR-V caps and enable shaderSubgroupExtendedTypes (Genesis-Embodied-AI#707) * Fix duplicate HIP graph driver-function declarations after v1.0.0 merge The amd-integration fork had cherry-picked the HIP graph driver functions (graph_create / graph_destroy / graph_add_kernel_node / graph_instantiate / graph_exec_destroy / graph_launch), and upstream v1.0.0 added the same set. The per-file 3-way merge appended both copies into amdgpu_driver_functions.inc.h, producing redeclaration errors that broke the AMDGPU RHI/runtime compile. Drop the upstream duplicate block; the signatures are identical to the fork's existing declarations. Co-authored-by: Cursor <cursoragent@cursor.com> * Fix AMDGPU launcher coherence and num_instructions visibility after v1.0.0 merge - kernel_launcher.cpp: the 3-way merge spliced upstream v1.0.0's launch_llvm_kernel rewrite (ephemeral arg/context buffers, explicit-stream path, AmdgpuDefaultStream PinGuard) onto the AMD fork's kernarg-by-value + persistent-scratch design, leaving references to undefined `ephemeral_context_ptr`. Restore the fork's coherent launch_llvm_kernel verbatim; it calls the (already merged) enhanced launch_offloaded_tasks, which keeps the max-reducer dispatch and stream-parallel groups adapted onto the AMD launch path. - llvm_context.h: both the fork and upstream added `num_instructions`; the merge kept upstream's private placement, but the AMDGPU codegen force-inline heuristic calls it statically from outside the class. Move it back to the public section. Co-authored-by: Cursor <cursoragent@cursor.com> * Restore async result D2H and hoist kernarg vectors in AMDGPU launcher The v1.0.0 merge resolution regressed two amd-integration baseline optimizations in launch_llvm_kernel / launch_offloaded_tasks: - The per-launch result-buffer copy was a blocking memcpy_device_to_host, forcing a host stall on every value-returning launch and serializing the GPU pipeline. Restore the async D2H (the caller synchronizes lazily when it needs the value); external-array transfers still stream_synchronize once before reading back. - launch_task constructed the kernarg std::vectors from initializer lists ({kernarg_payload} / {kernarg_size}) on every dispatch (heap alloc + free per launch). Hoist arg_ptrs/arg_sizes out of the per-task launch and reuse. Co-authored-by: Cursor <cursoragent@cursor.com> * amdgpu: default to LDS permlane64 emulation; drop host-x86 barrier asm on retarget Two AMDGPU JIT-compile crashes surfaced after the v1.0.0 merge pulled in the QIPC subgroup ops (Genesis-Embodied-AI#676), which made the rigid constraint solver's wave-cooperative reductions route through `amdgpu_cross_half_shuffle_i32`. Both manifested as a SIGSEGV inside `llvm::SIInstrInfo::getInstSizeInBytes` during `JITSessionAMDGPU::compile_module_to_hsaco` (i.e. at first kernel launch), and reproduce on gfx942 / MI300X. Baseline 0.4.6 never emitted these constructs, which is why it was unaffected. 1. Native `llvm.amdgcn.permlane64` lowering crashes the bundled LLVM 22.1.0 AMDGPU backend. Default `amdgpu_permlane64` to the existing LDS-roundtrip software emulation on every target (it produces identical results). Add `QD_AMDGPU_USE_NATIVE_PERMLANE64=1` to opt back into the native instruction once the backend bug is fixed; the old `QD_AMDGPU_FORCE_PERMLANE64_FALLBACK` is now the default and still honored. This is the actual crash fix. 2. The runtime module is compiled by the host x86_64 clang and only retargeted to amdgcn here, so `amdgpu_cross_half_shuffle_i32`'s `__asm__ volatile("" : "+v"(byte))` optimization barrier carries x86 flag clobbers (`~{dirflag},~{fpsr},~{flags}`) that are meaningless on AMDGPU. The IR verifies but the empty-body INLINEASM is invalid on the amdgcn target. Neutralize empty-body barrier asm during retarget (forward the tied value, then erase) so no stale host asm reaches codegen. On the wave64 targets we ship `ds_bpermute` already addresses the full wave, so the hint is a no-op. Co-authored-by: Cursor <cursoragent@cursor.com> * style: apply clang-format (v19.1.7) to AMDGPU fn_attrs and launcher sources CI pre-commit's clang-format hook reformatted these files (long declarations/lambda signatures collapsed onto single lines per the repo's clang-format config). Apply the same formatting so the hook passes. No functional changes. Co-authored-by: Cursor <cursoragent@cursor.com> * fix(amdgpu): use CreateNeg for branchless i32 sgn instead of CreateSub(0, input) clang-tidy (modernize-use-nullptr, -warnings-as-errors) flagged `builder->CreateSub(0, input)` in the i32 sgn path: the literal `0` binds to the `llvm::Value*` LHS parameter as a null pointer, not an integer zero. Replace with `builder->CreateNeg(input)`, which emits `0 - input` with a proper zero constant -- identical intended semantics, and clang-tidy clean. Co-authored-by: Cursor <cursoragent@cursor.com> --------- Co-authored-by: Robert Dazi <14996868+v01dXYZ@users.noreply.github.com> Co-authored-by: v01dxyz <v01dxyz@v01d.xyz> Co-authored-by: Hugh Perkins <hughperkins@gmail.com> Co-authored-by: Alexis DUBURCQ <alexis.duburcq@gmail.com> Co-authored-by: hugh <hugh@slurm-login-0.slurm-login.tenant-slurm.svc.cluster.local> Co-authored-by: alanray-tech <alan.ray@genesis-ai.company> Co-authored-by: alanray-tech <alanray-tech@users.noreply.github.com> Co-authored-by: root <root@rtx-209-201.slurm-compute.tenant-slurm.svc.cluster.local> Co-authored-by: Cursor <cursoragent@cursor.com> Co-authored-by: Johnny <johnnynuca14@gmail.com>

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duburcqa force-pushed the duburcqa/auto_diff_host_walk_reductions branch from 5475736 to 76caffd Compare April 28, 2026 15:03

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duburcqa force-pushed the duburcqa/auto_diff_host_walk_reductions branch from a1dec91 to 56a5727 Compare April 28, 2026 17:32

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duburcqa added 6 commits April 28, 2026 20:07

[Lang] auto_diff host-walk reductions: demand-driven PromoteSSA2Local…

519f9c7

…Var, relaxed AdStackAllocaJudger, new CoalesceAdStackLoads pass, ImmediateIRModifier swap

[Lang] auto_diff host-walk fixup: add min/max to NonLinearOps::binary…

c33f956

…_collections, mark MatrixPtrStmt::offset as required def + flag from AdStackAllocaJudger; xfail-pin min-loop-carried gradient bug per review feedback

[Lang] Fix min/max gradient bug via cmp-snap-stack and restore loop-c…

894bf14

…arried alloca adstack promotion via load+store evidence

[Lang] auto_diff PromoteSSA2LocalVar: note that LocalStoreStmts here …

59d98fe

…are placeholders rewritten into AdStackPushStmts by ReplaceLocalVarWithStacks downstream

duburcqa force-pushed the duburcqa/auto_diff_host_walk_reductions branch from 56a5727 to 568b761 Compare April 28, 2026 18:07

duburcqa merged commit 8d7975c into main Apr 28, 2026
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duburcqa deleted the duburcqa/auto_diff_host_walk_reductions branch April 28, 2026 19:45

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